Related papers: Pogobot: an Open-Source, Low-Cost Robot for Swarm …
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…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a…
In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified,…
This paper describes the development of a humanoid robot called ARDOP. The goal of the project is to provide a modular, open-source, and inexpensive humanoid robot that would enable researchers to answer various problems related to robotic…
Hardware platforms for socially interactive robotics can be limited by cost or lack of functionality. This paper presents the overall system -- design, hardware, and software -- for Quori, a novel, affordable, socially interactive humanoid…
We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…
In this paper we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmospheres. The Shapeshifter is a collection…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for…
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control.…
HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen…
This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Synthetic active collectives, composed of many nonliving individuals capable of cooperative changes in group shape and dynamics, hold promise for practical applications and for the elucidation of guiding principles of natural collectives.…