相关论文: Geometric Data-Driven Multi-Jet Locomotion Inspire…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
It is challenging to perform system identification on soft robots due to their underactuated, high-dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory)…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Magnetically actuated fish-like robots offer promising solutions for underwater exploration due to their miniaturization and agility; however, precise control remains a significant challenge because of nonlinear fluid dynamics, flexible fin…
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…
The theories of aero- and hydrodynamics predict animal movement and device design in air and water through the computation of lift, drag, and thrust forces. Although models of terrestrial legged locomotion have focused on interactions with…
It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely…
This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Locomotion by shape changes (spermatozoon swimming, snake slithering, bird flapping) or gas expulsion (rocket firing) is assumed to require environmental interaction, due to conservation of momentum. As first noted in (Wisdom, 2003) and…
This paper presents a Long Short-Term Memory network-based Fluid Experiment Data-Driven model (FED-LSTM) for predicting unsteady, nonlinear hydrodynamic forces on the underwater quadruped robot we constructed. Trained on experimental data…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
Robotic fish is one of the most promising directions of the new generation of underwater vehicles. Traditional biomimetic fish often mimic fish joints using tandem components like servos, which leads to increased volume, weight and control…