相关论文: Geometric Data-Driven Multi-Jet Locomotion Inspire…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
The capability of effectively moving on complex terrains such as sand and gravel can empower our robots to robustly operate in outdoor environments, and assist with critical tasks such as environment monitoring, search-and-rescue, and…
For manifold learning, it is assumed that high-dimensional sample/data points are embedded on a low-dimensional manifold. Usually, distances among samples are computed to capture an underlying data structure. Here we propose a metric…
Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…
Understanding swimming in soft yielding media is challenging due to their complex deformation response to the swimmer's motion. We experimentally show that a scallop-inspired swimmer with reciprocally flapping wings generates locomotion in…
Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
Our paper aims to generate diverse and realistic animal motion sequences from textual descriptions, without a large-scale animal text-motion dataset. While the task of text-driven human motion synthesis is already extensively studied and…
The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Soft robots are capable of inherently safer interactions with their environment than rigid robots since they can mechanically deform in response to unanticipated stimuli. However, their complex mechanics can make planning and control…