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The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-dependent motions remains limited. Existing…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
AI alignment is growing in importance, yet many current approaches learn safety behavior by directly modifying policy parameters, entangling normative constraints with the underlying policy. This often yields opaque, difficult-to-edit…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant…
An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…
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…
Micron-scale robots ($\mu$bots) have recently shown great promise for emerging medical applications. Accurate controlling $\mu$bots, while critical to their successful deployment, is challenging. In this work, we consider the problem of…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning methods to handle due to difficulties in specifying contact…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…