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Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
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 paper is concerned with the theory, construction and application of implicit Peer two-step methods that are super-convergent for variable stepsizes, i.e., preserve their classical order achieved for uniform stepsizes when applied to…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Out-of-distribution (OOD) robustness is a critical challenge for modern machine learning systems, particularly as they increasingly operate in multimodal settings involving inputs like video, audio, and sensor data. Currently, many OOD…
Three-dimensional (3D) AC electro-osmotic (ACEO) pumps have recently been developed that are much faster and more robust than previous planar designs. The basic idea is to create a ``fluid conveyor belt'' by placing opposing ACEO slip…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
This paper is concerned with the theory, construction and application of variable-stepsize implicit Peer two-step methods that are super-convergent for variable stepsizes, i.e., preserve their classical order achieved for uniform stepsizes…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
We have realised a 4-beam pyramidal magneto-optical trap ideally suited for future microfabrication. Three mirrors split and steer a single incoming beam into a tripod of reflected beams, allowing trapping in the four-beam overlap volume.…
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-3D morphs the underlying tree to find a…
This paper presents the design and integration of 3 Survivor, a rough terrain negotiable teleoperated mobile rescue and service robot. 3 Survivor is an improved version of two previously studied surveillance robots named Sigma 3 and Alpha…