Related papers: Emergent functional dynamics of link-bots
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Social robot navigation can be helpful in various contexts of daily life but requires safe human-robot interactions and efficient trajectory planning. While modeling pairwise relations has been widely studied in multi-agent interacting…
Active matter systems typically exhibit a trade-off between structural robustness and dynamical freedom, limiting independent control over structure and motion. Here, we show that encoding interactions in a shared field overcomes this…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Recent work leverages the capabilities and commonsense priors of generative models for robot control. In this paper, we present an agentic control system in which a reasoning-capable language model plans and executes tasks by selecting and…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walker, a novel, untethered,…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
Collaboration is a fundamental and essential characteristic of many complex systems, ranging from ant colonies to human societies. Each component within a complex system interacts with others, even at a distance, to accomplish a given task.…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Collective human movement is a hallmark of complex systems, exhibiting emergent order across diverse settings, from pedestrian flows to biological collectives. In high-speed scenarios, alignment interactions ensure efficient flow and…
Active solids such as cell collectives, colloidal clusters, and active metamaterials exhibit diverse collective phenomena, ranging from rigid body motion to shape-changing mechanisms. The nonlinear dynamics of such active materials remains…
Biological cortical networks are potentially fully recurrent networks without any distinct output layer, where recognition may instead rely on the distribution of activity across its neurons. Because such biological networks can have rich…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
The work introduces a bio-inspired leader-follower system based on an innovative mechanism proposed as software latching that aims to improve collaboration and coordination between a leader agent and the associated autonomous followers. The…