相关论文: An Open-Source, Reproducible Tensegrity Robot that…

Robots navigating complex environments must manage uncertainty from sensor noise, environmental changes, and incomplete information, with different tasks requiring varying levels of precision in different areas. For example, precise…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…

Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…

This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization…

In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evasive movements from arbitrary initial robot states using…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…

This paper presents the design and integration of 3 Survivor, a rough terrain negotiable teleoperated mobile rescue and service robot. 3 Survivor is an improved version of two previously studied surveillance robots named Sigma 3 and Alpha…

Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…