相关论文: Gondola: a Parametric Robot Infrastructure for Rep…
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
Feedback control theory has been extensively implemented to theoretically model human sensorimotor control. However, experimental platforms capable of manipulating important components of multiple feedback loops lack development. This paper…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…
Water distribution networks (WDNs) are critical systems for our society and detecting leakages is important for minimizing losses and water waste. This makes optimal sensor placement for leakage detection very relevant. Existing sensor…
While the deployment of deep learning models on edge devices is increasing, these models often lack robustness when faced with dynamic changes in sensed data. This can be attributed to sensor drift, or variations in the data compared to…
Higher-order proximity preserved network embedding has attracted increasing attention. In particular, due to the superior scalability, random-walk-based network embedding has also been well developed, which could efficiently explore…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
The emergence of Deep Neural Networks (DNNs) in mission- and safety-critical applications brings their reliability to the front. High performance demands of DNNs require the use of specialized hardware accelerators. Systolic array…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic environments. However, enabling…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This task is high-dimensional and highly constrained owing to the…
In this paper, we present a novel hybrid approach that combines Reinforcement Learning (RL) with Dynamic Window Approach (DWA) for adaptive 3D local navigation of high-degree-of-freedom robotic systems. Our method leverages sparse point…
This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…