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An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
Robots often interact with the world via attached parts such as wheels, joints, or appendages. In many systems, these interactions, and the manner in which they lead to locomotion, can be understood using the machinery of geometric…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Optimal sensor and actuator selection is a central challenge in high-dimensional estimation and control. Nearly all subsequent control decisions are affected by these sensor/actuator locations, and optimal placement amounts to an…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based structure and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom…
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equally valid goals, or a range of acceptable goals with a…
Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical…
In this study, we introduce "SARDiM," a modular semi-autonomous platform enhanced with mixed reality for industrial disassembly tasks. Through a case study focused on EV battery disassembly, SARDiM integrates Mixed Reality, object…