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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…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we firstly introduce an improved hardware design of the SLIDER…
When deploying reinforcement learning policies to physical robots, actuator rate constraints -- hard limits on how fast each joint can move per control step -- are unavoidable. These limits vary substantially across joints due to…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions…
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…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
Recent advancements in legged locomotion research have made legged robots a preferred choice for navigating challenging terrains when compared to their wheeled counterparts. This paper presents a novel locomotion policy, trained using Deep…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving…
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adoption of parallel mechanism architectures. However, selecting…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
This paper presents a Load-Based Variable Transmission (LBVT) mechanism designed to enhance robotic actuation by dynamically adjusting the transmission ratio in response to external torque demands. Unlike existing variable transmission…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…