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As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
The threat to safety of aging bridges has been recognized as a critical concern to the general public due to the poor condition of many bridges in the U.S. Currently, the bridge inspection is conducted manually, and it is not efficient to…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
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…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are…
This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots,…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…