Related papers: Wake-Based Locomotion Gait Design for Aerobat
Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snakes and nematodes, limbless locomotors can benefit from…
We focus on the problem of developing energy efficient controllers for quadrupedal robots. Animals can actively switch gaits at different speeds to lower their energy consumption. In this paper, we devise a hierarchical learning framework,…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by Aerobat, which is a dynamic morphing winged drone. Building…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…
This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm for such systems,…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
Grip, walk, crawl, and jump. Soft robots are integrated functional structures composed of compliant mechanisms, whose activity spans various industrial applications such as surgery, healthcare, surveillance, and even planetary exploration.…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Legged locomotion on flowing ground ({\em e.g.} granular media) is unlike locomotion on hard ground because feet experience both solid- and fluid-like forces during surface penetration. Recent bio-inspired legged robots display speed…
The one-to-one mapping of control inputs to actuator outputs results in elaborate routing architectures that limit how complex fluidic soft robot behaviours can currently become. Embodied intelligence can be used as a tool to counteract…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Wing flapping is one of the most widespread propulsion methods found in nature; however, the current understanding of the aerodynamics in bird wakes is incomplete. The role of the unsteady motion in the flow and its contribution to the…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…