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Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…

Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…

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,…

Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…

A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…

The next frontier in solar system exploration will be missions targeting extreme and rugged environments such as caves, canyons, cliffs and crater rims of the Moon, Mars and icy moons. These environments are time capsules into early…

Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…

Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a~shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common…

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…

Active communication between robots and humans is essential for effective human-robot interaction. To accomplish this objective, Cloud Robotics (CR) was introduced to make robots enhance their capabilities. It enables robots to perform…

Robotic exploration in extreme environments such as caves, oceans, and planetary surfaces pose significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these…

Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…

The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

We study two mechanisms of locomotion of a body in an inviscid fluid, which take place without the shedding of vorticity; we consider two simple examples of robots which are able to move along a straight trajectory. The first one consists…

Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…