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Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
In this paper, an iterative method for real-time hybrid testing (RTHT) is proposed. The method seeks to iteratively balance the interface conditions between the physical and numerical substructures by controlling the periodic demand of the…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
In this paper we present a continuation method which transforms spatially distributed ODE systems into continuous PDE. We show that this continuation can be performed both for linear and nonlinear systems, including multidimensional, space-…
We study the differential equations of lumped-parameter models of spacecraft thermal control. Firstly, we consider a satellite model consisting of two isothermal parts (nodes): an outer part that absorbs heat from the environment as…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Vibrational dynamics of adsorbates near surfaces plays both an important role for applied surface science and as model lab for studying fundamental problems of open quantum systems. We employ a previously developed model for the relaxation…
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…
At-home rehabilitation for post-stroke patients presents significant challenges, as continuous, personalized care is often limited outside clinical settings. Moreover, the lack of integrated solutions capable of simultaneously monitoring…
This paper presents thorough mathematical modeling, control law development, and simulation of virtual structure formations which are inspired by the characteristics of rigid bodies. The stable constraint forces that establish the rigidity…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
The competition of different length scales in quantum many-body systems leads to various novel phenomena, including the emergence of correlated dynamics or non-local order. To access and investigate such effects in an itinerant…
Programmable matter (PM) is a form of matter capable of dynamically altering its physical properties, such as shape or density, through programmable means. From a robotics perspective, PM can be realized as a distributed system consisting…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…