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Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
Multi-chiplet architectures enabled by glass interposer offer superior electrical performance, enable higher bus widths due to reduced crosstalk, and have lower capacitance in the redistribution layer than current silicon interposer-based…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
The recently advanced robotics technology enables robots to assist users in their daily lives. Haptic guidance (HG) improves users' task performance through physical interaction between robots and users. It can be classified into optimal…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
Data-driven learning based methods have recently been particularly successful at learning robust locomotion controllers for a variety of unstructured terrains. Prior work has shown that incorporating good locomotion priors in the form of…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
Gas turbine engines are highly efficient and powerful because of their high-pressure turbines (HPTs). Furthermore, stationary blades shape and prepare high-pressure gas for efficient utilization by moving blades. Consequently, optimizing…
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such…
Quadratic programming (QP) underpins real-time robotics by enabling efficient, constrained optimization in state estimation, motion planning, and control. In legged locomotion and manipulation, essential modules like inverse dynamics, Model…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Multistage decision policies provide useful control strategies in high-dimensional state spaces, particularly in complex control tasks. However, they exhibit weak performance guarantees in the presence of disturbance, model mismatch, or…
Developing controllers that generalize across diverse robot morphologies remains a significant challenge in legged locomotion. Traditional approaches either create specialized controllers for each morphology or compromise performance for…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
We describe a new geometry for electrostatic actuators to be used in sensitive laser interferometers. The arrangement consists of two plates at the sides of the mirror (test mass), and therefore does not reduce its clear aperture as a…
The complexity of teaching humanoid robots new tasks is one of the major reasons hindering their widespread adoption in the industry. While Imitation Learning (IL), particularly Action Chunking with Transformers (ACT), enables rapid task…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…