Related papers: Multi-robot connective collaboration toward collec…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
The 5.0 industry promotes collaborative robots (cobots). This research studies the impacts of cobot collaboration using an experimental setup. 120 participants realized a simple and a complex assembly task. 50% collaborated with another…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Multi-robot collaboration tasks often require heterogeneous robots to work together over long horizons under spatial constraints and environmental uncertainties. Although Large Language Models (LLMs) excel at reasoning and planning, their…
Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…
Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…
Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…