相关论文: When Being Soft Makes You Tough: A Collision-Resil…
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot…
Natural flyers use soft wings to seamlessly enable a wide range of flight behaviours, including agile manoeuvres, squeezing through narrow passageways, and withstanding collisions. In contrast, conventional quadrotor designs rely on rigid…
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structures to people and surroundings. We…
The increasing use of drones in human-centric applications highlights the need for designs that can survive collisions and recover rapidly, minimizing risks to both humans and the environment. We present HoLoArm, a quadrotor with compliant…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with…
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
Flying robots, such as quadrotor drones, offer new possibilities for human-robot interaction but often pose safety risks due to fast-spinning propellers, rigid structures, and noise. In contrast, lighter-than-air flapping-wing robots,…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Sense and avoid capability enables insects to fly versatilely and robustly in dynamic complex environment. Their biological principles are so practical and efficient that inspired we human imitating them in our flying machines. In this…