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Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…
The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
Following detection and tracking of traffic actors, prediction of their future motion is the next critical component of a self-driving vehicle (SDV) technology, allowing the SDV to operate safely and efficiently in its environment. This is…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
(Simplified Abstract) To accomplish breakthroughs in dynamic whole-body locomotion, legged robots have to be terrain aware. Terrain-Aware Locomotion (TAL) implies that the robot can perceive the terrain with its sensors, and can take…
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…