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Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…

The huge advantage of in-pipe robots is that they are able to measure from inside the pipes, and to sense the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements…

With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…

Pipe flow models are developed with a focus on their eventual use for feedback control design at the process control level, as opposed to the unit level, in gas processing facilities. Accordingly, linearized facility-scale models are…

Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources…

This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the…

This paper presents the design of a diagnosis system for the detection, identification and reconstruction of faults in pipelines. The design of such diagnosis system is based on redundant relations and nonlinear observers, taking into…

While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…

Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…

Vine robots are a class of soft continuum robots that grow via tip eversion, allowing them to move their tip without relying on reaction forces from the environment. Constructed from compliant materials such as fabric and thin, flexible…

In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…

We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Continuous operation of the electrical transmission lines is of great importance for today's electricity-dependent world. It is crucial to detect and diagnose a possible problem on the lines before that occurs. In general, maintenance,…