Related papers: Reconfigurable Robot Control Using Flexible Coupli…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
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…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…