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Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
The gait generator, which is capable of producing rhythmic signals for coordinating multiple joints, is an essential component in the quadruped robot locomotion control framework. The biological counterpart of the gait generator is the…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization…
Optimal locomotion and efficient traversal of extraterrestrial rovers in dynamic terrains and environments is an important problem statement in the field of planetary science and geophysical systems. Designing a superlative and efficient…
In this paper, the design of the the plasma equilibrium and superconducting coils for the Electrons and Positrons in an Optimized Stellarator EPOS experiment is presented. With newly developed stellarator optimization tools, including…
Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
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…
The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…
<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…