Related papers: Dynamic Posture Manipulation During Tumbling for C…
Elongate limbless robots have the potential to locomote through tightly packed spaces for applications such as search-and-rescue and industrial inspections. The capability to effectively and robustly maneuver elongate limbless robots is…
This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable…
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A kinematically controlled configuration assumes that both…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
Many elastic structures have two possible equilibrium states: from umbrellas that become inverted in a sudden gust of wind, to nano-electromechanical switches, origami patterns and the hopper popper, which jumps after being turned…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
A deformable body can rotate even with no angular momentum, simply by changing its shape. A good example is a falling cat, how it maneuvers in air to land on its feet. Here a first principles molecular level example of the phenomenon is…
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we introduce a novel approach called rotational obstacle avoidance…