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In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such controllers remains a significant…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
A new approach to designing processor accelerators is presented. A new computing model and a special kind of accelerator with dynamic (end-user programmable) architecture is suggested. The new model considers a processor, in which a newly…
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…
Initially, robots were developed with the aim of making our life easier, carrying out repetitive or dangerous tasks for humans. Although they were able to perform these tasks, the latest generation of robots are being designed to take a…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping,…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified,…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…
Grasping is a fundamental skill for interacting with the environment. However, this ability can be difficult for some (e.g. due to disability). Wearable robotic solutions can enhance or restore hand function, and recent advances have…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…