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Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enabling the estimation of the external disturbances in terms of…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…
To address the gaps between the static pre-set "thinking-planning-action" of humanoid robots in unfamiliar scenarios and the highly programmed "call tool-return result" due to the lack of autonomous coding capabilities, this work designs a…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
This paper introduces CognitiveDog, a pioneering development of quadruped robot with Large Multi-modal Model (LMM) that is capable of not only communicating with humans verbally but also physically interacting with the environment through…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
Temporal graphs represent graph evolution over time, and have been receiving considerable research attention. Work on expressing temporal graph patterns or discovering temporal motifs typically assumes relatively simple temporal…
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception force researchers to hand-craft open loop controllers for…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…
Stick insect stepping patterns have been studied for insights about locomotor rhythm generation and control, because the underlying neural system is relatively accessible experimentally and produces a variety of rhythmic outputs. Harnessing…
The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…
Sufficiently perceiving the environment is a critical factor in robot motion generation. Although the introduction of deep visual processing models have contributed in extending this ability, existing methods lack in the ability to actively…