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Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…

Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…

Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…

Autonomous systems and humans are increasingly sharing the same space. Robots work side by side or even hand in hand with humans to balance each other's limitations. Such cooperative interactions are ever more sophisticated. Thus, the…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…

When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…

Robots are still poor at traversing cluttered large obstacles required for important applications like search and rescue. By contrast, animals are excellent at doing so, often using direct physical interaction with obstacles rather than…

Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…

Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…