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Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa…
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and…
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…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Key questions surrounding the origin and evolution of Titan and the Saturnian system in which it resides remain following the Cassini-Huygens mission. In-situ measurements performed at key locations on the body are a highly effective way to…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…
In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
This paper presents a trade study analysis to design and evaluate the perception system architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end of deployable booms for navigation of rough terrain such as…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…