Related papers: Impact-resistant, autonomous robots inspired by te…
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series elastic actuators, and went from design to deployment in under…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
This paper aims to identify in a practical manner unknown physical parameters, such as mechanical models of actuated robot links, which are critical in dynamical robotic tasks. Key features include the use of an off-the-shelf physics engine…
Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Many mechanical structures, both engineered and biological, combine heavy rigid elements such as bones and beams with lightweight flexible ones such as cables and membranes. These are referred to as tensegrities, reflecting that cables can…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate large inertial effects but pose risks in…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
A tensegrity-based system is a promising approach for dynamic exploration of uneven and unpredictable environments, particularly, space exploration. However, implementing such systems presents challenges in terms of intelligent aspects:…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…