Related papers: RhoMorph: Rhombus-shaped Deformable Modular Robots…

Robot co-design, jointly optimizing morphology and control policy, remains a longstanding challenge in the robotics community, where many promising robots have been developed. However, a key limitation lies in its tendency to converge to…

We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…

Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…

We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a…

We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…

We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…

Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…

Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Large Multimodal Reasoning Models (LMRMs) are moving into real applications, where they must be both useful and safe. Safety is especially challenging in multimodal settings: images and text can be combined to bypass guardrails, and single…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…

This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated…

Non-rigid structure-from-motion (NRSfM), a promising technique for addressing the mapping challenges in monocular visual deformable simultaneous localization and mapping (SLAM), has attracted growing attention. We introduce a novel method,…

This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is…

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…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…