Related papers: ALPINE: a climbing robot for operations in mountai…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…
In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact sequence planner to transition between flat terrain and…
Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
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…
This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling…
Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…
Mobile robots are increasingly deployed in cluttered environments with movable objects, posing challenges for traditional methods that prohibit interaction. In such settings, the mobile robot must go beyond traditional obstacle avoidance,…