Related papers: CLOVER Robot: A Minimally Actuated Jumping Robotic…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller…
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…
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…