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Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…
This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial information of the desired trajectory. The proposed…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
Understanding the global dynamics of a robot controller, such as identifying attractors and their regions of attraction (RoA), is important for safe deployment and synthesizing more effective hybrid controllers. This paper proposes a…
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…
Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
This paper presents a generalized theory which describes how applied loads are distributed within rigid bodies handled by redundantly-actuated robotic systems composed of multiple independent closed-loop kinematic chains. The theory fully…