Related papers: Human-Multirobot Collaborative Mobile Manipulation…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
Collaborative robots are increasingly popular for assisting humans at work and daily tasks. However, designing and setting up interfaces for human-robot collaboration is challenging, requiring the integration of multiple components, from…
High-fidelity motion tracking serves as the ultimate litmus test for generalizable, human-level motor skills. However, current policies often hit a "generality barrier": as motion libraries scale in diversity, tracking fidelity inevitably…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
Humanoid whole-body locomotion control is a critical approach for humanoid robots to leverage their inherent advantages. Learning-based control methods derived from retargeted human motion data provide an effective means of addressing this…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] in its configuration featuring non-steerable wheels. The term…
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…