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Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
A technique by which a spacecraft can interact with flows of ionized gas in space (the solar wind or interstellar medium) to be accelerated to velocities greater than the wind velocity is explored. Inspired by the dynamic soaring maneuvers…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
Living organisms have developed advanced motion strategies for efficient space exploration, serving as inspiration for the movements of microrobots. These real-life strategies often involve anomalous dynamics displaying random movement…
As the robotics market rapidly evolves, energy consumption has become a critical issue, particularly restricting the application of construction robots. To tackle this challenge, our study innovatively draws inspiration from the mechanics…
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…
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…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
The objective of this work is to design and develop a bio-inspired soft and articulated armwing structure which will be an integral component of a morphing aerial co-bot, Aerobat. In our design, we draw inspiration from bats. Bat membranous…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A tethered tensile perching mechanism offers a simple,…
The collective motion of arrays of cilia - tiny, hairlike protrusions - drives the locomotion of numerous microorganisms, enabling multimodal motion and autonomous switching between gaits to navigate complex environments. To endow…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…