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In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings is an important stride to take, especially under harsh and…
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing models rely on causal attention, which we find suboptimal for…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Push recovery during locomotion will facilitate the deployment of humanoid robots in human-centered environments. In this paper, we present a unified framework for walking control and push recovery for humanoid robots, leveraging the arms…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
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…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…