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Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow…
The Rapid Telescopes for Optical Response (RAPTOR) experiment is a spatially distributed system of autonomous robotic telescopes that is designed to monitor the sky for optical transients. The core of the system is composed of two telescope…
We describe the design, construction, and operation of an apparatus utilizing a piezoelectric transducer for in-vacuum loading of nanoparticles into an optical trap for use in levitated optomechanics experiments. In contrast to commonly…
We present a concept for a 4000-fibre positioner for DESpec, based on the Echidna 'tilting spine' technology. The DESpec focal plane is 450mm across and curved, and the required pitch is ~6.75mm. The size, number of fibers and curvature are…
A pointing accuracy better than 1"(3sigma) star tracker plays a significant role for the advanced scientific missions. This thesis makes a series of studies on the typical error sources associated with the positioning and calibration…
While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and…
Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. This interaction, referred to as bundling and…
Precise control of particle positioning is desirable in many optical propulsion and sorting applications. Here, we develop an integrated platform for particle manipulation consisting of a combined optical nanofiber and optical tweezers…
Scanning probe microscopes scan and manipulate a sharp tip in the immediate vicinity of a sample surface. The limited bandwidth of the feedback mechanism used for stabilizing the separation between the tip and the sample makes the fragile…
The Stellar Observations Network Group prototype telescope at the Teide Observatory has been operating in scientific mode since March 2014. The first year of observations has entirely been carried out using the high resolution echelle…
Astrobots are robotic artifacts whose swarms are used in astrophysical studies to generate the map of the observable universe. These swarms have to be coordinated with respect to various desired observations. Such coordination are so…
Metasurfaces advanced the field of optics by reducing the thickness of optical components and merging multiple functionalities into a single layer device. However, this generally comes with a reduction in performance, especially for…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
The Argus Optical Array will be the first all-sky, arcsecond-resolution, 5-m class telescope. The 55 GPix Array, currently being prototyped, will consist of 900 telescopes with 61 MPix very-low-noise CMOS detectors enabling sub-second…
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow…
In this work we discuss ongoing development of a hybrid fiber/copper data and timing infrastructure for the future IceCube-Gen2 detector. The IceCube Neutrino Observatory is a kilometer-scale detector operating with 86 strings of modules.…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
Performing interferometry in an optical lattice formed by standing waves of light offers potential advantages over its free-space equivalents since the atoms can be confined and manipulated by the optical potential. We demonstrate such an…
Modern extreme adaptive optics (AO) systems achieving diffraction-limited performance open up new possibilities for instrumentation. Especially important for the fields of spectroscopy and interferometry is that it enables the prospect to…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…