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Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
The range of robot activities is expanding from industries with fixed environments to diverse and changing environments, such as nursing care support and daily life support. In particular, autonomous construction of robots that are…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…
This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
Even with the most advanced computational capabilities, high-fidelity (e.g., large-eddy) simulations of large-scale rocket engines remain far out of reach. In the current work, we develop and establish a component-based reduced-order…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
Task-driven design of soft robots requires models that are physically accurate and computationally efficient, while remaining transferable across actuator designs and task scenarios. However, existing modeling approaches typically face a…
Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…