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Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…
Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex, heterogeneous natural environments typically using undulatory body wave propagation. Theoretical and robophysical models typically emphasize body…
With the rise of modern deep learning, neural networks have become an essential part of virtually every artificial intelligence system, making it difficult even to imagine different models for intelligent behavior. In contrast, nature…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
Flying insects can perform rapid, sophisticated maneuvers like backflips, sharp banked turns, and in-flight collision recovery. To emulate these in aerial robots weighing less than a gram, known as flying insect robots (FIRs), a fast and…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Animal and robotic collective behaviours can exhibit complex dynamics that require multi-level descriptions. Here, we are interested in developing a multi-level modeling framework for the use of robots in studies about animal collective…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…