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This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…
Co-designing autonomous robotic agents involves simultaneously optimizing the controller and physical design of the agent. Its inherent bi-level optimization formulation necessitates an outer loop design optimization driven by an inner loop…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve times. We propose a multi-stage optimization framework with…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
In view of the performance limitations of fully-decoupled designs for neural architectures and accelerators, hardware-software co-design has been emerging to fully reap the benefits of flexible design spaces and optimize neural network…
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
This paper presents a modeling and optimization framework to design battery electric micromobility vehicles, minimizing their total cost of ownership (TCO). Specifically, we first identify a model of the electric powertrain of an e-scooter…