Related papers: Fast algorithmic self-assembly of simple shapes us…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Collections of simple, self-propelled colloidal particles exhibit complex, emergent dynamical behavior, with promising applications in microrobotics. When confined within a deformable vesicle, self-propelled rods cluster and align,…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
We use computer simulations to investigate self-assembly in a system of model chaperonin proteins, and in an Ising lattice gas. We discuss the mechanisms responsible for rapid and efficient assembly in these systems, and we use measurements…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
We investigate motion planning algorithms for the assembly of shapes in the \emph{tilt model} in which unit-square tiles move in a grid world under the influence of uniform external forces and self-assemble according to certain rules. We…
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…
Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics…
Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
In the self-assembly process which drives the formation of cellular membranes, micelles, and capsids, a collection of separated subunits spontaneously binds together to form functional and more ordered structures. In this work, we study the…
Recent advancements in microbiology have motivated the study of the production of nanostructures with applications such as biomedical computing and molecular robotics. One way to construct these structures is to construct branched DNA…
Colloidal molecules are ideal model systems for mimicking real molecules and can serve as versatile building blocks for the bottom-up self-assembly of flexible and smart materials. While most colloidal molecules are rigid objects, the…
A key assumption in the theory of nonlinear adaptive control is that the uncertainty of the system can be expressed in the linear span of a set of known basis functions. While this assumption leads to efficient algorithms, it limits…
Planning of any motion starts by planning the trajectory of the CoM. It is of the highest importance to ensure that the robot will be able to perform planned trajectory. With increasing capabilities of the humanoid robots, the case when…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…