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Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…

Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…

Model-free reinforcement learning is a promising approach for autonomously solving challenging robotics control problems, but faces exploration difficulty without information of the robot's kinematics and dynamics morphology. The…

Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…

Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…

In this paper, a non-autonomous stochastic logistic system is considered. An interesting result on the effect of stochastically perturbation for the dynamic behavior are obtained. That is, under certain conditions the stochastic system have…

Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…

Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…

Recurrent neural network-based reinforcement learning systems are capable of complex motor control tasks such as locomotion and manipulation, however, much of their underlying mechanisms still remain difficult to interpret. Our aim is to…

Synchronization is an important behavior that characterizes many natural and human made systems composed by several interacting units. It can be found in a broad spectrum of applications, ranging from neuroscience to power-grids, to mention…

Training materials through periodic drive allows to endow materials and structures with complex elastic functions. As a result of the driving, the system explores the high dimensional space of structures, ultimately converging to a…

Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…

Randomness is known to affect the dynamical behaviour of many systems to a large extent. In this paper we investigate how the nature of randomness affects the dynamics in a zero temperature quench of Ising model on two types of random…

Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…

This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…

Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

Random pairwise encounters often occur in large populations, or groups of mobile agents, and various types of local interactions that happen at encounters account for emergent global phenomena. In particular, in the fields of swarm…

In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…