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Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
We report here on initial studies of a pulsed hydromagnetic plasma gun that can operate in either a pre-filled or a gas-puff mode on demand. These modes enable agile and responsive performance through tunable thrust and specific impulse.…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Willems' Fundamental Lemma and an artificial equilibrium…
Plasma is a medium containing free electrons and cations, where each particle group behaves as a conducting fluid with a single velocity and temperature in the presence of electromagnetic fields. The difference in roles electrons and ions…
We propose a new protocol for thr manipulation of a three-level artificial atom in Lambda ($\Lambda$) configuration in the absence of a direct pump coupling. It allows faithful, selective and robust population transfer analogous to…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…
Multi-rotor UAVs face limited flight time due to battery constraints. Autonomous docking on blimps with onboard battery recharging and data offloading offers a promising solution for extended UAV missions. However, the vulnerability of…
A versatile table-top dusty plasma experimental (DPEx) device to study flow induced excitations of linear and nonlinear waves/structures in a complex plasma is presented. In this {$\Pi$}-shaped apparatus a DC glow discharge plasma is…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…
Micro-vibration has been a dominant factor impairing the performance of scientific experiments which are expected to be deployed in a micro-gravity environment such as Spacelab. The micro-vibration has a serious impact on scientific…
The Beam Dump Facility (BDF) is a proposed general-purpose facility at CERN, dedicated to fixed target and beam dump experiments, currently being developed in the context of the Physics Beyond Colliders program. The design of the facility…