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This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
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…
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…
Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
We present angle of attack control, a novel control strategy for a hip energized Penn Jerboa. The energetic losses from damping are counteracted by aligning most of the velocity at touchdown in the radial direction and the fore-aft velocity…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain largely out of reach because current RL training paradigms…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…