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This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
This study presents a modular, electronics-free, and fully onboard control and actuation approach for SMA-based soft robots to achieve locomotion tasks. This approach exploits the nonlinear mechanics of compliant curved beams and carefully…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
This research focuses on enabling Northeastern University's Husky, a multi-modal quadrupedal robot, to navigate narrow paths akin to various animals in nature. The Husky is equipped with thrusters to stabilize its body during dynamic…
Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic institutions to participate NASA's Breakthrough, Innovative \&…
We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…
This note presents a solution of the swing-up task of two acrobots using trajectory optimization method. The equations of motion for 2-link and 3-link acrobot are manually derived, and then form the dynamics of the robots. Numerical…
Snake robots, comprised of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate through the complex environment via the…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
Automated vehicles will allow occupants to engage in non-driving tasks, but limited visual cues will make them vulnerable to unexpected movements. These unpredictable perturbations create a "surprise factor," forcing the central nervous…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…