Related papers: TriphiBot: A Triphibious Robot Combining FOC-based…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…
This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use can induce mechanical fatigue from plastic deformation and…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…