相关论文: Embodied robots driven by self-organized environme…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Self-organized emergent patterns can be widely seen in particle interactions producing complex structures such as chemical elements and molecules. Inspired by these interactions, this work presents a novel stochastic approach that allows a…
Collections of simple, self-propelled colloidal particles exhibit complex, emergent dynamical behavior, with promising applications in microrobotics. When confined within a deformable vesicle, self-propelled rods cluster and align,…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
We consider self-organization and memory formation in a mesoscopic model of an amorphous solid subject to a random shear strain protocol confined to a strain range $\pm \varepsilon_{\rm max}$. We develop proper read-out protocols to show…
Collective behavior in animals has long been modeled through self-propelled particle models, which reproduce striking group-level phenomena through abstract interaction forces. Yet these models are fundamentally descriptive: they leave open…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
Living systems process sensory data to facilitate adaptive behaviour. A given sensor can be stimulated as the result of internally driven activity, or by purely external (environmental) sources. It is clear that these inputs are processed…
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
In this work, we present the development of a neuro-inspired approach for characterizing sensorimotor relations in robotic systems. The proposed method has self-organizing and associative properties that enable it to autonomously obtain…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Behavior is characterized by sequences of goal-oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the…