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Planetary bodies characterized by low gravitational acceleration, such as the Moon and near-Earth asteroids, impose unique locomotion constraints due to diminished contact forces and extended airborne intervals. Among traversal strategies,…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…
Robots will become ubiquitously useful only when they can use few attempts to teach themselves to perform different tasks, even with complex bodies and in dynamical environments. Vertebrates, in fact, successfully use trial-and-error to…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…