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While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Artificial audition aims at providing hearing capabilities to machines, computers and robots. Existing frameworks in robot audition offer interesting sound source localization, tracking and separation performance, although involve a…
This paper introduces an innovative design for robotic operating platforms, underpinned by a transformative Internet of Things (IoT) architecture, seamlessly integrating cutting-edge technologies such as large language models (LLMs),…
In recent years, there is an increasing interest in high school robotics extracurriculars such as robotics clubs and robotics competitions. The growing demand is a result of more ubiquitous open-source software and affordable off-the-shelf…
Testing the aerodynamics of micro- and nano-UAVs without actually flying is highly challenging. To address this issue, we introduce Open Gimbal, a specially designed 3 Degrees of Freedom platform that caters to the unique requirements of…
This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…