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Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and external disturbances. Traditional force estimation methods…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Automated animal behavior analysis relies on long-term, interpretable individual trajectories; however, multi-animal tracking in space science experimental videos remains highly challenging due to weak appearance cues, low-quality imaging,…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
Robot systems for teleoperation commonly use a spring-like force pulling the follower robot towards the leader's position to track their movements. With this control strategy, the tracking accuracy deteriorates when the follower' stiffness…
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…
In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing…
In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
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…
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…
Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system including the nonlinear active compliance control and the active impedance…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…