Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate joint stiff...
While most insect-inspired robots come with a simple tarsus such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and detach on plan...
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists: designing a roboti...
In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable successful harvest...
Visual-Inertial-Leg Odometry For Legged Robots (⭐ 372)
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loose ground, and they trample continuous strips of land thereby reducing...
Martian subsurface habitability and astrobiology can be evaluated via a lava tube cave, without drilling. MACIE addresses two key goals of the Decadal Survey (2013-2022) and three MEPAG goals. New advances in robotic architectures, autonomous navigat...
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an environme...
Recent works in Task and Motion Planning (TAMP) show that training control policies on language-supervised robot trajectories with quality labeled data markedly improves agent task success rates. However, the scarcity of such data presents a signific...
Industry 4.0 introduced AI as a transformative solution for modernizing manufacturing processes. Its successor, Industry 5.0, envisions humans as collaborators and experts guiding these AI-driven manufacturing solutions. Developing these techniques n...
An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics (⭐ 1792)
People, robots, and companies mostly divide time and effort between projects, and \defined{shared effort games} model people investing resources in public endeavors and sharing the generated values. In linear $θ$ sharing (effort) games, a project's...
Short response time is critical for future military medical operations in austere settings or remote areas. Such effective patient care at the point of injury can greatly benefit from the integration of semi-autonomous robotic systems. To achieve aut...
For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state of the world requires inputs from many different sensory modalities i...
The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot....
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at 120° to each ot...
By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due...
John Fare (sometimes John Charles Fare or John Fahey or John Faré) is a fictional performance artist who allegedly used robotic surgery to remove parts
An improved library written in C++ to allow an Arduino to interface with the Meccanoid robot modules (⭐ 21)
A guide: Imitating human motion in real time using Arduino, Xbox Kinect, and the Meccanoid robot (⭐ 171)