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With the advent of readily available wireless communications and small hand-held computers, commonly known as personal digital assistants (PDAs), it is interesting to consider using these portable devices to access a control system. We have…
Recent advances in agentic AI have enabled increasingly autonomous workflows, but existing systems still face substantial challenges in achieving reliable deployment in real-world scientific research. In this work, we present a safe,…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily accelerated, cheaply reset, or massively replicated, which…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
This letter introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit lowers the entry barrier for studying dynamic robots and…
This paper introduces and overviews a multidisciplinary project aimed at developing responsible and adaptive multi-human multi-robot (MHMR) systems for complex, dynamic settings. The project integrates co-design, ethical frameworks, and…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks…
Although artificial intelligence (AI) is solving real-world challenges and transforming industries, there are serious concerns about its ability to behave and make decisions in a responsible way. Many AI ethics principles and guidelines for…
Virtual learning environments are a useful modality for engaging students in the classroom by affording them a sense of presence and immersion. The motivation of this project was to create an open-source augmented reality electrical circuit…
Wearable devices that measure and record physiological signals are now becoming widely available to the general public with ever-increasing affordability and signal quality. The data from these devices introduce serious ethical challenges…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Advances in semiconductor manufacturing processes and large scale integration keep pushing demanding applications further away from centralized processing, and closer to the edges of the network (i.e. Edge Computing). It has become possible…
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control…
System-level resource monitoring with both precision and efficiency is a continuous challenge. We introduce eHashPipe, a lightweight, real-time resource observability system utilizing eBPF and the HashPipe sketching algorithm. eHashPipe…
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed…