Related papers: TALE-teller: Tendon-Actuated Linked Element Roboti…
Whole Tale http://wholetale.org is a web-based, open-source platform for reproducible research supporting the creation, sharing, execution, and verification of "Tales" for the scientific research community. Tales are executable research…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
Several results in previous works, strongly depend on the exponential tail of the linkages' distribution in our adhesive models. The purpose of this paper is to weaken this hypothesis and to allow more fat tails for large ages. From the…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
In situations where both extreme and non-extreme data are of interest, modelling the whole data set accurately is important. In a univariate framework, modelling the bulk and tail of a distribution has been extensively studied before.…
In this work, we introduce a novel deep learning architecture, Variable Length Embeddings (VLEs), an autoregressive model that can produce a latent representation composed of an arbitrary number of tokens. As a proof of concept, we…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the…
In many machine learning contexts, tasks are often treated as interconnected components with the goal of leveraging knowledge transfer between them, which is the central aim of Multi-Task Learning (MTL). Consequently, this multi-task…
Capturing the dependencies between joints is critical in skeleton-based action recognition task. Transformer shows great potential to model the correlation of important joints. However, the existing Transformer-based methods cannot capture…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), particularly abduction-adduction (Ab-Ad),…
The eukaryotic cell's cytoskeleton is a prototypical example of an active material: objects embedded within it are driven by molecular motors acting on the cytoskeleton, leading to anomalous diffusive behavior. Experiments tracking the…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly agile movements. Therefore, the spine is also a promising…
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…
The mechanics of biological tissues mainly proceeds from the cell cortex rheology. A direct, explicit link between cortex rheology and tissue rheology remains lacking, yet would be instrumental in understanding how modulations of cortical…
This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and experimental studies reveal that the designed joint can…