相关论文: Gondola: a Parametric Robot Infrastructure for Rep…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…

We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely…

Water distribution systems (WDSs) are an important part of critical infrastructure becoming increasingly significant in the face of climate change and urban population growth. We propose a robust and scalable surrogate deep learning (DL)…

This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…

Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…

In the recent years, there has been a huge advancement in wireless sensor computing technology. Today, wireless sensor network (WSN) has become a key technology for different types of smart environment. Nodes localization in WSN has arisen…

This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle based sampling and…

Mobile robots are used in various fields, from deliveries to search and rescue applications. Different types of sensors are mounted on the robot to provide accurate navigation and, thus, allow successful completion of its task. In…

Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…

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…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Manipulating a deformable linear object (DLO) such as wire, cable, and rope is a common yet challenging task due to their high degrees of freedom and complex deformation behaviors, especially in an environment with obstacles. Existing local…

The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

HyperSurfaces are a merge of structurally reconfigurable metasurfaces whose electromagnetic properties can be changed via a software interface, using an embedded miniaturized network of controllers, thus enabling novel capabilities in…

Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…