机器人学
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…
While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
The massive volume of data generated by LiDAR sensors in autonomous vehicles creates a bottleneck for real-time processing and vehicle-to-everything (V2X) transmission. Existing lossless compression methods often force a trade-off: industry…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
Large-scale orchard production requires timely and precise disease monitoring, yet routine manual scouting is labor-intensive and financially impractical at the scale of modern operations. As a result, disease outbreaks are often detected…
As spatial intelligence continues to evolve, heterogeneous multi-agent systems-particularly the collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), have demonstrated strong potential in complex…
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading method for reducing high-dimensional nonlinear dynamical…
Due to the ever-changing nature of construction, many tasks on sites occur in an improvisational manner. Existing mobile construction robot studies remain limited in addressing improvisational tasks, where task-required locations, timing of…
Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequency control required for dynamic manipulation. To address the…
Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…
Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a cost-aware traversability navigation framework that…
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a…
Emergency stop (E-stop) mechanisms are the de facto standard for robot safety. However, for humanoid robots, abruptly cutting power can itself cause catastrophic failures; instead, an emergency stop must execute a predefined fallback…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…