相关论文: Oogway: Designing, Implementing, and Testing an AU…
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical body alignment in the frontal plane to maintain static…
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…
This paper introduces the BOW Planner, a scalable motion planning algorithm designed to navigate robots through complex environments using constrained Bayesian optimization (CBO). Unlike traditional methods, which often struggle with…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic…
Recent technological advancements in space, air, and ground components have made possible a new network paradigm called space-air-ground integrated network (SAGIN). Unmanned aerial vehicles (UAVs) play a key role in SAGINs. However, due to…
While significant research progress has been made in robot learning for control, unique challenges arise when simultaneously co-optimizing morphology. Existing work has typically been tailored for particular environments or representations.…
With the advent of robot-assisted surgery, the role of data-driven approaches to integrate statistics and machine learning is growing rapidly with prominent interests in objective surgical skill assessment. However, most existing work…
The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
The continuous evolution of small Unmanned Aerial Systems (sUAS) demands advanced testing methodologies to ensure their safe and reliable operations in the real-world. To push the boundaries of sUAS simulation testing in realistic…
The mobile robotic testbed is an essential and critical support to verify the effectiveness of mobile robotics research. This paper introduces a novel multi-robot testbed, named Robopheus, which exploits the ideas of virtual-physical…
Gas leaks and arc discharges present significant risks in industrial environments, requiring robust detection systems to ensure safety and operational efficiency. Inspired by human protocols that combine visual identification with acoustic…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
In the landscape of technological innovation, autonomous racing is a dynamic and challenging domain that not only pushes the limits of technology, but also plays a crucial role in advancing and fostering a greater acceptance of autonomous…
PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots…
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding…
The AGINAO is a project to create a human-level artificial general intelligence system (HL AGI) embodied in the Aldebaran Robotics' NAO humanoid robot. The dynamical and open-ended cognitive engine of the robot is represented by an embedded…
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal…
We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…