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Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…
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…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…