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We introduce the Self-Adaptive Goal Generation - Robust Intelligent Adaptive Curiosity (SAGG-RIAC) architecture as an intrinsi- cally motivated goal exploration mechanism which allows active learning of inverse models in high-dimensional…
To advance theoretical solutions and address limitations in modeling complex servo-driven actuation systems experiencing high non-linearity and load disturbances, this paper aims to design a practical model-free generic robust control (GRC)…
In this paper, we design unimodular waveforms with good correlation properties for multi-input multi-output (MIMO) radar systems. Specifically, first, we analyze the geometric properties of the unimodular constraint in the fourth-order…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
This paper presents a new stiffness modulation mechanism that enables infinite-range stiffness modulation in a fast manner. The proposed stiffness modulation mechanism can help improve many robot environment interaction applications such as…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a 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…
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors are considered. To address this issue, we introduce a new…
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…
Complex engineering models are typically computationally demanding and defined by a high-dimensional parameter space challenging the comprehensive exploration of parameter effects and design optimization. To overcome this curse of…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…