相关论文: HOPPY: An Open-source Kit for Education with Dynam…
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and…
We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore,…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
This research concentrates on enhancing the navigational capabilities of Northeastern Universitys Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation and thrust vectoring, to traverse through narrow pathways such…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, parallel mechanisms can not be accurately simulated due to the…
Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet---a task referred to…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…
Despite significant interest and advancements in humanoid robotics, most existing commercially available hardware remains high-cost, closed-source, and non-transparent within the robotics community. This lack of accessibility and…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
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…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…