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Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
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…
Dissipative environments are ubiquitous in nature, from microscopic swimmers in low-Reynolds-number fluids to macroscopic animals in frictional media. In this study, motivated by various behaviours of {\it Caenorhabditis elegans} during…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller. The result is…
Although commonly associated with limbless animals like snakes and fish, multi-legged organisms like centipedes also utilize undulatory locomotion. Whether these undulations are actively reinforced or resisted by the axial musculature…
Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…
Homeostasis keeps animals alive; it is a fundamental process that allows animals to adapt quickly to their environment. Artificial homeostasis can be used to help robots adapt to changing environments. Previous attempts at developing…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Successful adaptation helped the emergence of complexity. Alternating plastic- and rigid-like states were recurrently considered to play a role in adaptive processes. However, this extensive knowledge remained fragmented. In this paper I…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea,…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…