Related papers: HOPPY: An open-source and low-cost kit for dynamic…

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and…

Hardware platforms for socially interactive robotics can be limited by cost or lack of functionality. This paper presents the overall system -- design, hardware, and software -- for Quori, a novel, affordable, socially interactive humanoid…

We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the…

Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…

Multiscale modeling, which integrates material properties from ab initio calculations into continuum-scale simulations, is a promising strategy for optimizing semiconductor devices. However, a key challenge remains: while ab initio methods…

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…

This article describes an exemplary robot exercise which was conducted in a class for mechatronics students. The goal of this exercise was to engage students in scientific thinking and reasoning, activities which do not always play an…

Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…

With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…

Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that utilize unconventional mobility through hopping, flying and rolling can overcome many roughness limitations and…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…

Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly regulate unilateral contact forces. Our objective is to…

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…

Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our developed control strategy enables the Cassie bipedal robot to…

This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…