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Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured…
Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
In nature, limbless locomotion is adopted by a wide range of organisms at various length scales. Interestingly, undulatory, crawling and inching/looping gait constitutes a fundamental class of limbless locomotion and is often observed in…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer…