The Design and Control of the Multi-Modal Locomotion Origami Robot, Tribot

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Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible th ...

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...

The Design and Control of the Multi-Modal Locomotion Origami Robot, Tribot

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SUTBot: A Soft Umbrella-like Tensegrity Robot with Elastic Struts for In-pipe Locomotion

Design of robotic physical intelligence

A Stochastic Approach to Contact-rich Manipulation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Online Multicontact Receding Horizon Planning via Value Function Approximation

Augmenting locomotor perception by remapping tactile foot sensation to the back

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Frequency response of fiber reinforced DEAs

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Neuromechanical Simulations of Animats with Decentralised Control

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

The neuromechanics of animal locomotion: From biology to robotics and back

Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke