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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…
Robotic locomotion research typically draws from biologically inspired leg designs, yet many human-engineered settings can benefit from non-anthropomorphic forms. TARS3D translates the block-shaped 'TARS' robot from Interstellar into a 0.25…
Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…
Robotic exploration in extreme environments such as caves, oceans, and planetary surfaces pose significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
Since the past few decades, several designs and control methods have been developed for the Spherical Robots (SRs) with thoroughly analyzed mechanics on generalized 3D terrains. But the vertical motion and the steep inclination maneuver has…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Machine learning algorithms have found several applications in the field of robotics and control systems. The control systems community has started to show interest towards several machine learning algorithms from the sub-domains such as…
This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots. In terms of vertical jumping agility, a measure of…
Recent advances in learned control, large-scale simulation, and generative models have accelerated progress toward general-purpose robotic controllers, yet the field still lacks platforms suitable for safe, expressive, long-term deployment…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…