Related papers: HOPPY: An Open-source Kit for Education with Dynam…
This paper presents a work-in-progress on a learn-ing system that will provide robotics students with a personalized learning environment. This addresses both the scarcity of skilled robotics instructors, particularly in community colleges…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
This study investigates the educational potential of Flappy, a low-cost, bioinspired robotic blimp platform modeled after the motion of manta rays, as a hands-on STEM learning tool for middle school students. Building on prior research…
In recent years, there is an increasing interest in high school robotics extracurriculars such as robotics clubs and robotics competitions. The growing demand is a result of more ubiquitous open-source software and affordable off-the-shelf…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
We present an approach to experimental radar systems education based on a combination of commercial low-cost hardware with modern open-source software technologies. Following a discussion of the general top-level architecture of flexible,…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…
Compared to conventional wheeled transportation systems designed for flat surfaces, soft robots exhibit exceptional adaptability to various terrains, enabling stable movement in complex environments. However, due to the risk of collision…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…
Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
Educational robots allow experimenting with a variety of principles from mechanics, electronics, and informatics. Here we propose ClipBot, a low-cost, do-it-yourself, robot whose skeleton is made of two paper clips. An Arduino nano…
Unlike most human-engineered systems, many biological systems rely on emergent behaviors from low-level interactions, enabling greater diversity and superior adaptation to complex, dynamic environments. This study explores emergent…