Related papers: On Locomotion of a Laminated Fish-inspired robot i…
Imitation learning provides a powerful framework for goal-conditioned visual navigation in mobile robots, enabling obstacle avoidance while respecting human preferences and social norms. However, its effectiveness depends critically on the…
Soft, vine-inspired growing robots that move by eversion are highly mobile in confined environments, but, when faced with gaps in the environment, they may collapse under their own weight while navigating a desired path. In this work, we…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
The basic idea behind evolutionary robotics is to evolve a set of neural controllers for a particular task at hand. It involves use of various input parameters such as infrared sensors, light sensors and vision based methods. This paper…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
Two the most common tasks for autonomous mobile robots is to explore the environment and locate a target. %In the last case, the objective is either to find a target in the shortest time possible or, alternatively, to find %as many targets…
Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to robotics. It is a study of robots that are aimed to mimic natural swarms, like ants and birds, to form a system that is scalable, flexible, and robust.…
Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
Understanding efficient fish locomotion offers insights for biomechanics, fluid dynamics, and engineering. Traditional studies often miss the link between neuromuscular control and whole-body movement. To explore energy transfer in…
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…
My research objective is to explicitly bridge the gap between high computational performance and low power dissipation of robot on-board hardware by designing a bio-inspired tapered whisker neuromorphic computing (also called reservoir…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…