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We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such…
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and…
Landing robotic spacecrafts and humans on Mars has become one of the inevitable technological necessities for humans. Effectuating perfect Mars expedition requires landing of enormous cargoes, crewed modules, ascent vehicles, and scientific…
Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…
Here we present a flexible tip mount for eversion (vine) robots. This soft cap allows attaching a payload to an eversion robot while allowing moving through narrow openings, as well as the eversion of protruding objects, and expanded…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
Climbing soft robots are of tremendous interest in both science and engineering due to their potential applications in intelligent surveillance, inspection, maintenance, and detection under environments away from the ground. The challenge…
Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…