Related papers: Space CoBot: a collaborative aerial robot for indo…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this paper, we present a new humanoid robot design, an…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…
In this second of three short papers, I introduce some of the basic concepts of space robotics with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space infrastructure…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…