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The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…
Digital twin technology has a huge potential for widespread applications in different industrial sectors such as infrastructure, aerospace, and automotive. However, practical adoptions of this technology have been slower, mainly due to a…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…
Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…
Knowledge of terrain's physical properties inferred from color images can aid in making efficient robotic locomotion plans. However, unlike image classification, it is unintuitive for humans to label image patches with physical properties.…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-leg setup capable of stepping on various easily…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
A Mobility Digital Twin is an emerging implementation of digital twin technology in the transportation domain, which creates digital replicas for various physical mobility entities, such as vehicles, drivers, and pedestrians. Although a few…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
We introduce a novel framework that integrates Semantic Digital Twins (SDTs) with Large Language Models (LLMs) to enable adaptive and goal-driven robotic task execution in dynamic environments. The system decomposes natural language…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Road inspection is crucial for maintaining road serviceability and ensuring traffic safety, as road defects gradually develop and compromise functionality. Traditional inspection methods, which rely on manual evaluations, are…