Related papers: AMBER: A tether-deployable gripping crawler with c…
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
Determining the creep compliances of orthotropic composite materials requires experiments in at least three different uniaxial and biaxial loading directions. Up to date, data respecting multiple climates and all anatomical directions are…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage…
Autonomous delivery of goods using a MAV is a difficult problem, as it poses high demand on the MAV's control, perception and manipulation capabilities. This problem is especially challenging if the exact shape, location and configuration…
We consider the rope climber fall problem in two different settings. The simplest formulation of the problem is when the climber falls from a given altitude and is attached to one end of the rope while the other end of the rope is attached…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…
Transformer-based generative models have achieved remarkable success across domains with various scaling law manifestations. However, our extensive experiments reveal persistent challenges when applying Transformer to recommendation…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…