Related papers: Geometric Static Modeling Framework for Piecewise-…
The single wheel, gyroscopically stabilized robot - Gyrover, is a dynamically stable but statically unstable, underactuated system. In this paper, based on the dynamic model of the robot, we investigate two classes of nonholonomic…
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…
Semiflexible polymers in poor solvents exhibit a rich variety of collapsed morphologies, including globules, toroids, and rodlike bundles, arising from the competition between attractive interactions and chain stiffness. Computer…
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…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
Based on the Maxwell-Beatty reciprocity theorem, static non-reciprocity has been realized by using nonlinearity, but this non-reciprocity has strict restrictions on input amplitude and structure size (number of units). Here, we propose a…
The problem of the linear microtearing mode in a slab magnetised plasma, and its connection to kinetic reconnecting modes, is addressed. Electrons are described using a novel hybrid fluid-kinetic model that captures electron heating, ions…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
The rate of reconnection characterizes how quickly flux and mass can move into and out of the reconnection region. In the Terrestrial Reconnection EXperiment (TREX), the rate at which antiparallel asymmetric reconnection occurs is modulated…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
Tip-growing eversion robots are renowned for their ability to access remote spaces through narrow passages. However, achieving reliable navigation remains a significant challenge. Existing solutions often rely on artificial muscles…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
We study two cross-linked polymer systems in the strong stretching regime. The first consists of two polymers sharing one endpoint, with the other two endpoints coupled by a harmonic potential. Within the weakly bending approximation, we…
This paper presents a new and unified approach to the derivation and analysis of many existing, as well as new discontinuous Galerkin methods for linear elasticity problems. The analysis is based on a unified discrete formulation for the…
Modular Active Cell Robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…