相关论文: When Being Soft Makes You Tough: A Collision-Resil…
As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
Nano-quadcopters are versatile platforms attracting the interest of both academia and industry. Their tiny form factor, i.e., $\,$10 cm diameter, makes them particularly useful in narrow scenarios and harmless in human proximity. However,…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
The ignition of flammable liquids and gases in offshore oil and gas environments is a major risk and can cause loss of life, serious injury, and significant damage to infrastructure. Power supplies that are used to provide regulated…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
Aerial robots the size of a honeybee (~100 mg) have advantages over larger robots because of their small size, low mass and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because…
There are several challenges for search and rescue robots: mobility, perception, autonomy, and communication. Inspired by the DARPA Subterranean (SubT) Challenge, we propose an autonomous blimp robot, which has the advantages of low power…
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…