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Soft growing robots are novel devices that mimic plant-like growth for navigation in cluttered or dangerous environments. Their ability to adapt to surroundings, combined with advancements in actuation and manufacturing technologies, allows…

Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, and collision avoidance against…

As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…

A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease…

This work proposes a compact robotic limb, AugLimb, that can augment our body functions and support the daily activities. AugLimb adopts the double-layer scissor unit for the extendable mechanism which can achieve 2.5 times longer than the…

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…

Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…

If robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on…

The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…

Climbing soft robots are of tremendous interest in both science and engineering due to their potential applications in intelligent surveillance, inspection, maintenance, and detection under environments away from the ground. The challenge…

Drones provide a versatile platform for remote sensing and atmospheric studies. However, strict payload mass limits and intense vibrations have proven obstacles to adoption for astronomy. We present a concept for system-level testing of a…

In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…

Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…

We present a coverage framework that integrates Hilbert space-filling priors into decentralized multi-robot learning and execution. We augment DQN and PPO with Hilbert-based spatial indices to structure exploration and reduce redundancy in…

Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect…

This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…

Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…

ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…

Unmanned aerial-aquatic vehicles (UAAVs) can operate both in the air and underwater, giving them broad application prospects. Inspired by the dual-function wings of puffins, we propose a UAAV with amphibious wings to address the challenge…