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Recent developments in quantum computing suggest that it could be possible to make conditional changes to the state of a quantum mechanical system without resorting to classical observation. It is accomplished through collective response of…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Autonomous robotic boats are expected to perform several tasks: 1) navigate autonomously in water environments, such as the canals of Amsterdam; 2) perform individual task, such as water monitoring, transporting goods and people; 3) latch…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
When developing high-speed and high-precision CNC machine tools, subsystem coupling effects must be considered while designing the feed system to maximize its dynamic performance. Currently, the influence of changes in control parameters on…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
We propose a set of general coupling conditions to select a coupling profile (a set of coupling matrices) from the linear flow matrix (LFM) of dynamical systems for realizing global stability of complete synchronization (CS) in identical…
Modern hardware environments are becoming increasingly heterogeneous, leading to the emergence of applications specifically designed to exploit this heterogeneity. Efficiently adopting locks in these applications poses distinct challenges.…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
We study a toy model for a superconductor on a bipartite lattice, where intrinsic pairing inhomogeneity is produced by two different coupling constants on the sublattices. The simplicity of the model allows for analytic solutions and tests…
Recent experiments show that periodic modulations of cold atoms in optical lattices may be used to engineer and explore interesting models. We show that double modulation, combining lattice shaking and modulated interactions allows for the…