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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…

Rehabilitating cast iron pipes through lining offers several advantages, including increased durability, reduced water leaks, and minimal disruption.This approach presents a cost effective and environmentally friendly solution by sealing…

Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges…

Continuous operation of the electrical transmission lines is of great importance for today's electricity-dependent world. It is crucial to detect and diagnose a possible problem on the lines before that occurs. In general, maintenance,…

Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…

We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…

This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…

Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of releasing these robot designs as…

Bristle bots are vibration-driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…

This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land…

Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…

To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…

Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…

Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…