Related papers: System Identification of Thrust and Torque Charact…
During learning trials, systems are exposed to different failure conditions which may break robotic parts before a safe behavior is discovered. Humans contour this problem by grounding their learning to a safer structure/control first and…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
In previous research, various types of aerial robots were developed to improve maneuverability or manipulation abilities. However, there was a challenge in achieving both mobility and manipulation capabilities simultaneously. This is…
Legged robots have excellent terrestrial mobility for traversing diverse environments and thus have the potential to be deployed in a wide variety of scenarios. However, they are susceptible to falling and leg malfunction during locomotion.…
When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these…
In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller…
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…
A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework "Epersist" is to overcome the challenge of counterbalancing an…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…