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In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
This research investigates the three-dimensional effects of flow around a pair of flapping wings undergoing clap-and-fling interactions through harmonic in-plane motions combining pitching, heaving, and deviation. Both wings mirror each…
Multimodal UAVs (Unmanned Aerial Vehicles) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding…
This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…
This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab leverages a single point of contact with the ground to reduce…
Anyone who has tried to swat a fly has likely been frustrated by its remarkable agility.This ability stems from its visual neural perception system, particularly the collision-selective neurons within its small brain.For autonomous robots…
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
Insect wings can undergo significant deformation during flapping motion owing to inertial, elastic and aerodynamic forces. Changes in shape then alter aerodynamic forces, resulting in a fully coupled Fluid-Structure Interaction (FSI)…
We introduce Bee$^+$, a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots with the same size and similar weight…
The secret to the spectacular flight capabilities of flapping insects lies in their wings, which are often approximated as flat, rigid plates. Real wings are however delicate structures, composed of veins and membranes, and can undergo…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…