Related papers: Aggregating Single-wheeled Mobile Robots for Omnid…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
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…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
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…
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…