相关论文: N-LIMB: Neural Limb Optimization for Efficient Mor…

Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…

We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…

In this work, we investigate task planning for mobile robots under linear temporal logic (LTL) specifications. This problem is particularly challenging when robots navigate in continuous workspaces due to the high computational complexity…

Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…

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…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…

Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…

Evolving virtual creatures is a field with a rich history and recently it has been getting more attention, especially in the soft robotics domain. The compliance of soft materials endows soft robots with complex behavior, but it also makes…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Evolutionary algorithms offer great promise for the automatic design of robot bodies, tailoring them to specific environments or tasks. Most research is done on simplified models or virtual robots in physics simulators, which do not capture…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…

Nonlinear optimal control problems are often solved with numerical methods that require knowledge of system's dynamics which may be difficult to infer, and that carry a large computational cost associated with iterative calculations. We…

A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…

Morphology-control co-design concerns the coupled optimization of an agent's body structure and control policy. This problem exhibits a bi-level structure, where the control dynamically adapts to the morphology to maximize performance.…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

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…