Related papers: A Sequential Hermaphrodite Coupling Mechanism for …
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…
Optical lattice systems provide exceptional platforms for quantum simulation of many-body systems. We focus on the doubly modulated Bose-Hubbard model driven by both time-dependent on-site energy and interaction, and predict the emergence…
Examples of one-dimensional lattice systems are considered, in which patterns of different spatial scales arise alternately, so that the spatial phase over a full cycle undergo transformation according to expanding circle map that implies…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
Robot swarms have been shown to improve the ability of individual robots by inter-robot collaboration. In this paper, we present the PuzzleBots - a low-cost robotic swarm system where robots can physically couple with each other to form…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
This paper presents a hetero-associative sequential memory system for mobile manipulators that learns compact, neuromorphic bindings between robot joint states and tactile observations to produce step-wise action decisions with low compute…
In this paper, inspired by the idea that the hub nodes of a highly heterogeneous network are not only the bottlenecks, but also effective controllers in the network synchronizing process, we bring forward an asymmetrical coupling method…
Controlling the transport and nature of quantum excitations in low-dimensional systems is a key requirement for scalable quantum devices, including communication networks and quantum simulators. We propose a one-dimensional hybrid quantum…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
Geometric modelling has been a crucial component of the design process ever since the introduction of the first Computer-Aided Design (CAD) systems. Additive Manufacturing (AM) pushes design freedom to previously unachievable limits. AM…
We highlight a general theory to engineer arbitrary Hermitian tight-binding lattice models in electrical LC circuits, where the lattice sites are replaced by the electrical nodes, connected to its neighbors and to the ground by capacitors…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…