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This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
Trans-catheter cardiac intervention has become an increasingly available option for high-risk patients without the complications of open heart surgery. However, current catheterbased platforms suffer from a lack of dexterity, force…
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…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Convolutional neural networks (CNNs) are typically trained using 16- or 32-bit floating-point (FP) and researchers show that low-precision floating-point (FP) can be highly effective for inference. Low-precision FP can be implemented in…
Many bioinspired robots mimic the rigid articulated joint structure of the human hand for grasping tasks, but experience high-frequency mechanical perturbations that can destabilize the system and negatively affect precision without a…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Deformable substrates such as sand and mud present significant challenges for terrestrial robots due to complex robot-terrain interactions. Inspired by mudskippers, amphibious animals that naturally adjust their tail morphology and movement…
Interest in the coaxial compound helicopter (CCH) has been increasing in the civil aviation and engineering community for its high-speed and high-maneuverability features, and is likely to continue to do so for the foreseeable future. Since…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Hydrothermal carbonization (HTC) is a process that converts biomass into versatile hydrochar without the need for prior drying. The physicochemical properties of hydrochar are influenced by biomass properties and processing parameters,…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
This paper aims for a controller that can stabilize a position-controlled humanoid robot when standing still or walking on synthetic grass even when subjected to external disturbances. Two types of controllers are designed and implemented:…
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
The hydrodynamics of fish swimming depend on the interaction between the undulation of the body and the flapping of the caudal fin. This study develops a computational framework of a Jackfish-inspired swimmer with an independently mounted…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…