Related papers: Underactuated multimodal jumping robot for extrate…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
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…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we…
This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
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…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…