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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…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus, it is useful to have systems that do not depend on accurate estimation to the point of fragility. In this paper, we…
Locomotion robots with active or passive compliance can show robustness to uncertain scenarios, which can be promising for agricultural, research and environmental industries. However, state estimation for these robots is challenging due to…
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…