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Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
We present the design of the Stewart Platform Robot for Interactive Tabletop Engagement (SPRITE). This robot is designed for use in socially assistive robotics, a field focusing on non-contact social interaction to help people achieve goals…
Application of humanoid robots has been common in the field of healthcare and education. It has been recurrently used to improve social behavior and mollify distress level among children with autism, cancer and cerebral palsy. This article…
Traversing terrains with sparse footholds like legged animals presents a promising yet challenging task for quadruped robots, as it requires precise environmental perception and agile control to secure safe foot placement while maintaining…
Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
This paper reviews various Evolutionary Approaches applied to the domain of Evolutionary Robotics with the intention of resolving difficult problems in the areas of robotic design and control. Evolutionary Robotics is a fast-growing field…
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appropriate footholds for obstacle traversal, endowing legged…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Developing machine intelligence abilities in robots and autonomous systems is an expensive and time consuming process. Existing solutions are tailored to specific applications and are harder to generalize. Furthermore, scarcity of training…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for humanoids presents a promising approach to realizing this…
Despite significant interest and advancements in humanoid robotics, most existing commercially available hardware remains high-cost, closed-source, and non-transparent within the robotics community. This lack of accessibility and…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…