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Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Collaborative robots are expected to be able to work alongside humans and in some cases directly replace existing human workers, thus effectively responding to rapid assembly line changes. Current methods for programming contact-rich tasks,…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Robotic assistance in scientific laboratories requires procedurally correct long-horizon manipulation, reliable execution under limited supervision, and robustness in low-demonstration regimes. Such conditions greatly challenge end-to-end…
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to…
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…
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized…