In contrast to hard automation, which relies on the precise knowledge of all parameters and special-purpose machinery, the goal of flexible assembly is to overcome the inherent uncertainty in the location of the parts. The main result of this diss...
Unlike conventional robotic manipulators, continuum manipulators are inspired by invertebrate structures found in nature, such as octopus arms and elephant trunks. The shape of a continuum manipulator can continuously deform via changing the contr...
Intelligent robots have been increasingly used in unstructured and unknown environments rather than being limited in well-controlled settings. The key to successful autonomous robot operations in such environments is to combine robot manipulation ...
