Related papers: Tendon-driven Grasper Design for Aerial Robot Perc…
Efficient exploration of large-scale environments remains a critical challenge in robotics, with applications ranging from environmental monitoring to search and rescue operations. This article proposes Frontier Shepherding (FroShe), a…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to possess enhanced agility and obstacle-navigation skills.…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Environmental monitoring is used to characterize the health and relationship between organisms and their environments. In forest ecosystems, robots can serve as platforms to acquire such data, even in hard-to-reach places where…
Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
A terrestrial robot that can maneuver rough terrain and scout places is very useful in mapping out unknown areas. It can also be used explore dangerous areas in place of humans. A terrestrial robot modeled after a scorpion will be able to…
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of…
Trees are key components of the terrestrial biosphere, playing vital roles in ecosystem function, climate regulation, and the bioeconomy. However, large-scale monitoring of individual trees remains limited by inadequate modelling. Available…