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Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include…
Adaptive recovery from fall incidents are essential skills for the practical deployment of wheeled-legged robots, which uniquely combine the agility of legs with the speed of wheels for rapid recovery. However, traditional methods relying…
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…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Recent works in the robot learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control,…
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…
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…
Reinforcement Learning (RL) has been pivotal in recent robotics milestones and is poised to play a prominent role in the future. However, these advances can rely on proprietary simulators, expensive hardware, and a daunting range of tools…
This paper presents the design of Variable-Pitch-Propeller mechanism and its application on a quadcopter called Heliquad to demonstrate its unique capabilities. The input-output relationship is estimated for a generic mechanism. Various…
Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…
Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…
Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining robust to uncertainty. This work presents a novel framework…
Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…