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This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…
The objective of this work is to design a mechatronic bipedal robot with mobility in 3D environments. The designed robot has a total of six actuated degrees of freedom (DoF), each leg has two DoF located at the hip: one for…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…