Modular Reconfigurable Robotics

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Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks ...

Modular Reconfigurable Robotics

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Learning and optimization of anticipatory feedback controllers for robot manipulation

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Implicit Distance Functions: Learning and Applications in Robotics

Morphological flexibility in robotic systems through physical polygon meshing

Self-Correcting Quadratic Programming-Based Robot Control

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Reinforcement learning for scaffold-free construction of spanning-structures

Sensorless force and displacement estimation in soft actuators

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Multi-modal deformation and temperature sensing for context-sensitive machines

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Motion Planning and Inertia Based Control for Impact Aware Manipulation

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control