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This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In…
This paper introduces the Bidirectional Clustered MPPI (BiC-MPPI) algorithm, a novel trajectory optimization method aimed at enhancing goal-directed guidance within the Model Predictive Path Integral (MPPI) framework. BiC-MPPI incorporates…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…
Out-of-distribution (OOD) detection is essential for ensuring the robustness of machine learning models by identifying samples that deviate from the training distribution. While traditional OOD detection has primarily focused on…
Mode-division multiplexing (MDM) is becoming an enabling technique for large-capacity data communications via encoding the information on orthogonal guiding modes. However, the on-chip routing of a multimode waveguide occupies too large…
LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…