相关论文: iRonCub 3: The Jet-Powered Flying Humanoid Robot
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and external disturbances. Traditional force estimation methods…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
To investigate the functional and social acceptance of a humanoid robot, we carried out an experimental study with 56 adult participants and the iCub robot. Trust in the robot has been considered as a main indicator of acceptance in…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…
This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…
This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…