相关论文: Demonstrating Autonomous 3D Path Planning on a Nov…
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…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
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…
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
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…
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
Navigating in search and rescue environments is challenging, since a variety of terrains has to be considered. Hybrid driving-stepping locomotion, as provided by our robot Momaro, is a promising approach. Similar to other locomotion…
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…