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Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe…

The available tools for damage identification in civil engineering structures are known to be computationally expensive and data-demanding. This paper proposes a comprehensive machine learning based damage identification (CMLDI) method that…

Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…

Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…

This paper proposes a robust damage identification method using noisy frequency response functions (FRFs) and topology optimization. We formulate the damage identification problem as an inverse problem of generating the damage topology of…

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)…

Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system…

Lower extremity amputees face challenges in natural locomotion, which is partially compensated using powered assistive systems, e.g., micro-processor controlled prosthetic leg. In this paper, a radar-based perception system is proposed to…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…

In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…

Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legged and wheeled structures, which limits overall system…

Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Reasoning about failures is crucial for building reliable and trustworthy robotic systems. Prior approaches either treat failure reasoning as a closed-set classification problem or assume access to ample human annotations. Failures in the…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

Motor bearing fault detection (MBFD) is critical for maintaining the reliability and operational efficiency of industrial machinery. Early detection of bearing faults can prevent system failures, reduce operational downtime, and lower…

Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…

Lower-Limb Fractures (LLF) are a major health concern for older adults, often leading to reduced mobility and prolonged recovery, potentially impairing daily activities and independence. During recovery, older adults frequently face social…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction dynamics. However, NN based estimators and controllers may…