相关论文: Geometric Data-Driven Multi-Jet Locomotion Inspire…

This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…

Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion…

This paper introduces DogSurf - a newapproach of using quadruped robots to help visually impaired people navigate in real world. The presented method allows the quadruped robot to detect slippery surfaces, and to use audio and haptic…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…

We introduce a new graphical model for tracking radio-tagged animals and learning their movement patterns. The model provides a principled way to combine radio telemetry data with an arbitrary set of userdefined, spatial features. We…

Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…

Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although…

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,…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

Salmon's nearly geostrophic model for rotating shallow-water flow is derived in full spherical geometry. The model, which results upon constraining the velocity field to the height field in Hamilton's principle for rotating shallow-water…

Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…

Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design…

We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…

Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Modeling the mechanics of fluid in complex scenes is vital to applications in design, graphics, and robotics. Learning-based methods provide fast and differentiable fluid simulators, however most prior work is unable to accurately model how…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delivery. Unlike prior imitation learning-based approaches that…