Related papers: AMBER: A tether-deployable gripping crawler with c…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomotion is largely enabled by their…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the…
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
We introduce a Cable Grasping-Convolutional Neural Network designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable…
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired…
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…
Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
Ants are highly capable of grasping objects in clutter, and we have recently observed that this involves substantial use of their forelegs. The forelegs, more specifically the tarsi, have high friction microstructures (setal pads), are…
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a standard penetrate-drag-scoop motion pattern. Inspired by human…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…