Related papers: Sim2real gap is non-monotonic with robot complexit…
Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…
In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots that leverage this interaction remains a…
If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is).…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height using a morphing-wing drone capable of temporarily sweeping in…
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically ignore the bilateral morphological symmetry inherent in…
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
Aeronautics research has continually sought to achieve the adaptability and morphing performance of avian wings, but in practice, wings of all scales continue to use the same hinged control-surface embodiment. Recent research into compliant…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
How should zoomorphic, or bio-inspired, robots indicate to humans that interactions will be safe and fun? Here, a survey is used to measure how human willingness to interact with a simulated butterfly robot is affected by different flight…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…