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Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…

This paper presents a scalable control algorithm that enables a deployed mobile robot system to make high-level decisions under full consideration of its probabilistic belief. Our approach is based on insights from the rich literature of…

This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…

Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial…

This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…

We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…

Unmanned aircraft systems (UAS) are being increasingly adopted for various applications. The risk UAS poses to people and property must be kept to acceptable levels. This paper proposes risk-aware contingency management autonomy to prevent…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Over the several decades, the space debris at LEO has grown rapidly which had caused a serious threat to the operating satellite in an orbit. To avoid the risk of collision and protect the LEO environment, the space robotics ADR concept has…

Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper presents the design, fabrication, and…

The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…

We describe the development and implementation of a light-weight, fully autonomous 2-axis pointing and stabilization system designed for balloon-borne astronomical payloads. The system is developed using off-the-shelf components such as…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

The proliferation of intelligent transportation systems (ITS) has led to increasing demand for diverse network applications. However, conventional terrestrial access networks (TANs) are inadequate in accommodating various applications for…

In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that…

There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…

For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…

Teleoperation allows a human operator to remotely interact with and control a mobile robot in a dangerous or inaccessible area. Besides well-known applications such as space exploration or search and rescue operations, the application of…