Related papers: Extended URDF: Accounting for parallel mechanism i…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Accurate 3D shape representation is essential in engineering applications such as design, optimization, and simulation. In practice, engineering workflows require structured, part-based representations, as objects are inherently designed as…
Social robots are becoming increasingly diverse in their design, behavior, and usage. In this chapter, we provide a broad-ranging overview of the main characteristics that arise when one considers social robots and their interactions with…
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…
Multi-robot systems of increasing size and complexity are used to solve large-scale problems, such as area exploration and search and rescue. A key decision in human-robot teaming is dividing a multi-robot system into teams to address…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, parallel mechanisms can not be accurately simulated due to the…
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Robots are increasingly deployed across diverse domains and designed for multi-purpose operation. As robotic systems grow in complexity and operate in dynamic environments, the need for structured, expressive, and scalable…