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In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
This study presents a multi-modal mechanism for recognizing human intentions while diving underwater, aiming to achieve natural human-robot interactions through an underwater superlimb for diving assistance. The underwater environment…
This work presents predictive hydrodynamic simulations empowered by artificial intelligence (AI) for laser driven implosion experiments, taking the double-cone ignition (DCI) scheme as an example. A Transformer-based deep learning model…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
Dynamic watermarking, as an active intrusion detection technique, can potentially detect replay attacks, spoofing attacks, and deception attacks in the feedback channel for control systems. In this paper, we develop a novel dynamic…
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…
Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements…
The impact of a plunging breaker on a partially submerged cube is explored experimentally in a wave tank equipped with a programable wave maker. The experiments are conducted with the cube (dimension $L=30.48$ cm) positioned at one…
Soft robots present unique capabilities, but have been limited by the lack of scalable technologies for construction and the complexity of algorithms for efficient control and motion, which depend on soft-body dynamics, high-dimensional…
Traditional human activity recognition uses either direct image analysis or data from wearable inertial measurement units (IMUs), but can be ineffective in challenging underwater environments. We introduce a novel hybrid approach that…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Using an underdamped active Ornstein-Uhlenbeck particle, we propose two information swimmer models having either external or internal feedback control and perform their numerical simulations. Depending on the velocity that is measured after…
The imminent impact of immersive technologies in society urges for active research in real-time and interactive physics simulation for virtual worlds to be realistic. In this context, realistic means to be compliant to the laws of physics.…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
The dynamics of drop impact on solid surfaces can be changed significantly by tuning the elasticity of the solid. Most prominently, the substrate deformation causes an increase in the splashing threshold as compared to impact onto perfectly…
When swimming at low Reynolds numbers, inertial effects are negligible and reciprocal movements cannot induce net motion. Instead, symmetry breaking is necessary to achieve net propulsion. Directed swimming can be supported by magnetic…