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Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…
In real-world field operations, aerial grasping systems face significant challenges in dynamic environments due to strong winds, shifting surfaces, and the need to handle heavy loads. Particularly when dealing with heavy objects, the…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
We present a detailed numerical study of a microscopic artificial swimmer realized recently by Dreyfus et al. in experiments [R. Dreyfus et al., Nature 437, 862 (2005)]. It consists of an elastic filament composed of superparamagnetic…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
Humans have a strong intuitive understanding of physical processes such as fluid falling by just a glimpse of such a scene picture, i.e., quickly derived from our immersive visual experiences in memory. This work achieves such a…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
When a blunt body impacts an air-water interface, large hydrodynamic forces often arise, a phenomenon many of us have unfortunately experienced in a failed dive or "belly flop." Beyond assessing risk to biological divers, an understanding…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…
Social navigation requires robots to act safely in dynamic human environments. Effective behavior demands thinking ahead: reasoning about how the scene and pedestrians evolve under different robot actions rather than reacting to current…
Underwater robotic manipulation faces significant challenges due to complex fluid dynamics and unstructured environments, causing most manipulation systems to rely heavily on human teleoperation. In this paper, we introduce AquaBot, a fully…
We develop a deep reinforcement learning framework for controlling a bio-inspired jellyfish swimmer to navigate complex fluid environments with obstacles. While existing methods often rely on kinematic and geometric states, a key challenge…
We present a deep-learning based tracking objects of interest in walking droplet and granular intruder experiments. In a typical walking droplet experiment, a liquid droplet, known as \textit{walker}, propels itself laterally on the free…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…