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Humans naturally swing their arms during locomotion to regulate whole-body dynamics, reduce angular momentum, and help maintain balance. Inspired by this principle, we present a limb-level multi-agent reinforcement learning (RL) framework…
The human somatosensory system integrates multimodal sensory feedback, including tactile, proprioceptive, and thermal signals, to enable comprehensive perception and effective interaction with the environment. Inspired by the biological…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
To achieve human-like dexterity for anthropomorphic robotic hands, it is essential to understand the biomechanics and control strategies of the human hand, in order to reduce the number of actuators being used without loosing hand…
Humans are able to outperform robots in terms of robustness, versatility, and learning of new tasks in a wide variety of movements. We hypothesize that highly nonlinear muscle dynamics play a large role in providing inherent stability,…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for humanoids presents a promising approach to realizing this…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…
Harnessing complex body dynamics has been a long-standing challenge in robotics. Soft body dynamics is a typical example of high complexity in interacting with the environment. An increasing number of studies have reported that these…
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…
Quantifying the safety of the human body orientation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information…
We outline the design and construction of novel robotic arms using machine perception, convolutional neural networks, and symbolic AI for logical control and affordance indexing. We describe our robotic arms built with a humanlike…
Physically intelligent micro-robotic systems exploit information embedded in micro-robots, their colloidal cargo, and their milieu to interact, assemble and form functional structures. Nonlinear anisotropic fluids like nematic liquid…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Responding mechanically to environmental requests, muscles show a surprisingly large variety of functions. The studies of in vivo cycling muscles qualified skeletal muscles into four principal locomotor patterns: motor, brake, strut, and…