相关论文: PuffyBot: An Untethered Shape Morphing Robot for M…
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider…
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both…
We propose to make the physical characteristics of a robot oscillate while it learns to improve its behavioral performance. We consider quantities such as mass, actuator strength, and size that are usually fixed in a robot, and show that…
The move to high performance applications greatly increases the demand to produce large instantaneous fluid forces for high-speed maneuvering and improved power efficiency for sustained propulsion. Animals achieve remarkable feats of…
Estimating the geometric and volumetric properties of transparent deformable liquids is challenging due to optical complexities and dynamic surface deformations induced by container movements. Autonomous robots performing precise liquid…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
In flood disaster rescue scenarios, partially submerged buildings prevent aerial robots from accessing lower levels, limiting mission effectiveness. To address this challenge, this paper presents Wukong-Omni, a novel multimode robot capable…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
While significant research progress has been made in robot learning for control, unique challenges arise when simultaneously co-optimizing morphology. Existing work has typically been tailored for particular environments or representations.…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR).…
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Unlike most human-engineered systems, biological systems are emergent from low-level interactions, allowing much broader diversity and superior adaptation to the complex environments. Inspired by the process of morphogenesis in nature, a…
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without…
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…