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Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating…
Near-space, which covers altitudes from 20 to 100 kilometers, has been receiving more and more attention because of its special strategic value. Airships and high-altitude balloons are two common types of low-speed vehicles that operate in…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
We demonstrate two techniques for studying the features of three-level systems driven by two lasers (called control and probe), when the transitions are Doppler broadened as in room-temperature vapor. For $\Lambda$-type systems, the probe…
Controlling dopant transport with high spatial precision is crucial for improving the semiconductor functionality, reliability, and scalability. Although prior models of noise-assisted diffusion have been largely confined to idealized one…
Levitation in vacuum has evolved into a versatile technique which has already benefited diverse scientific directions, from force sensing and thermodynamics to material science and chemistry. It also holds great promises of advancing the…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
The Primordial Inflation Polarization Explorer (PIPER) is a stratospheric balloon payload to measure polarization of the cosmic microwave background. Twin telescopes mounted within an open-aperture bucket dewar couple the sky to bolometric…
Compact cold-atom sensors depend on vacuum technology. One of the major limitations to miniaturizing these sensors are the active pumps -- typically ion pumps -- required to sustain the low pressure needed for laser cooling. Although…
In nuclear and atomic physics experiments, charged ion beams often need to be guided from the ion production to the experimental site. In the PUMA experiment, an ion source beamline was developed, which can be operated with up to…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive…
This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmonic drives. The approach integrates Physics-Informed Neural…