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This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
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…
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about…
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds.…
In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art…
This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…