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Reliable and efficient communication is one of the key requirements for the deployment of self-driving cars. Consequently, researchers and developers require efficient and precise tools for the parallel development of vehicular mobility and…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
While miniaturization has been a goal in robotics for nearly 40 years, roboticists have struggled to access sub-millimeter dimensions without making sacrifices to on-board information processing due to the unique physics of the microscale.…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
Continuous operation of the electrical transmission lines is of great importance for today's electricity-dependent world. It is crucial to detect and diagnose a possible problem on the lines before that occurs. In general, maintenance,…
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…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Autonomous nano-drones, powered by vision-based tiny machine learning (TinyML) models, are a novel technology gaining momentum thanks to their broad applicability and pushing scientific advancement on resource-limited embedded systems.…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
Robotic surgery and novel surgical instrumentation present great potentials towards safer, more accurate and consistent minimally invasive surgery. However, their adoption is dependent to the access to training facilities and extensive…
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capabilities essential for real-world…
Teleoperating precise bimanual manipulations in cluttered environments is challenging for operators, who often struggle with limited spatial perception and difficulty estimating distances between target objects, the robot's body, obstacles,…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Intelligent Transportation Systems (ITS) increasingly rely on vision-based perception and learning-based control, necessitating experimental platforms that support realistic hardware-in-the-loop validation. Small-scale platforms for…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…
Mobile manipulators have been used for inspection, maintenance and repair tasks over the years, but there are some key limitations. Stability concerns typically require mobile platforms to be large in order to handle far-reaching…
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…