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The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying…
Agricultural robotics and automation are facing some challenges rooted in the high variability 9 of products, task complexity, crop quality requirement, and dense vegetation. Such a set of 10 challenges demands a more versatile and safe…
Transformer architectures have transformed AI applications but remain complex to customize for domain experts lacking low-level implementation expertise. We introduce AttentionSmithy, a modular software package that simplifies transformer…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…