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Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
The ability to achieve and maintain inverted poses is essential for unlocking the full agility of miniature blimp robots (MBRs). However, developing reliable inverted control strategies for MBRs remains challenging due to their complex and…
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…
Whenever humans and robots work together, it is essential that unexpected robot behavior can be explained to the user. Especially in applications such as shared control the user and the robot must share the same model of the objects in the…
Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…
Cells and microorganisms employ dynamic shape changes to enable steering and avoidance for efficient spatial exploration and collective organization. In contrast, active colloids, their synthetic counterparts, currently lack similar…
Programmable matter (PM) is a form of matter capable of dynamically altering its physical properties, such as shape or density, through programmable means. From a robotics perspective, PM can be realized as a distributed system consisting…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are…
We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand…