Related papers: Design of a Flying Humanoid Robot Based on Thrust …

There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…

The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…

Promoting exploratory movements through contingent feedback can positively influence motor development in infancy. Our ongoing work gears toward the development of a robot-assisted contingency learning environment through the use of small…

Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-hungry for small height gains. We propose an energy-aware…

Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining overall stability and robustness. We propose Advanced Expressive Whole-Body Control (Exbody2), a…

Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…

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…

Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…

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…

Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…