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Some of the material in is restricted to members of the community. By logging in, you may be able to gain additional access to certain collections or items. If you have questions about access or logging in, please use the form on the Contact Page.
One of the main goals of robotics research is to give physical platforms intelligence, allowing for the platforms to act autonomously with minimal direction from humans. Motion planning is the process by which a mobile robot plans a...
Many leg controllers and gaits have been designed directly with lower level parameters. This approach can lead to very high performance gaits, but can also lead to platforms highly tuned for one particular application with drastically...
Legged mobile robots have a number of distinct advantages over wheeled or flight-enabled platforms, including optimal foot placement and task- or terrain-specific gait strategies. When analyzing a legged robot, the use of reduced order...
Dynamic legged robots use complex designs or controllers to achieve high performance locomotion. Some of these gaits can result in high power requirements to achieve the best results. In nature, animals often use spring-like behaviors to...
Autonomous robots are increasingly working alongside humans in a variety of environments. While simple applications in controlled environments work fine with fully autonomous robots and little interaction between human and robot, mission...
Animals have demonstrated the capacity to traverse many complex unstructured terrains at high speeds by utilizing effective locomotion regimes. Motion in difficult and uncertain environments have only seen partial success on traditional...
Legged animals have long been shown to excel at maneuvering and navigating the complex and changing environments found in the natural world through a combination of highly actuated musculoskeletal structures, robust and flexible control...
Robotic assistive devices hold enormous promise for augmenting and rehabilitating human locomotion (e.g. exoskeletons). Existing control techniques for lower-body exoskeletons, however, take significant time to design and tune because...
The flexibility of animals limbs combined with the robustness of locomotion traversing unstructured terrains allow animals such as geckos and cockroaches to move dynamically in both horizontal and vertical domains. To capture this...
The ability of animals to traverse arboreal structures is uncanny and breath-taking. A simple google search of "animals climbing trees" will display video captured of adult brown bears bounding at jaw-dropping and fear-inducing speeds up...
As the push for autonomous systems gains momentum, there has been a shift from automated to semi-autonomous systems, and current and future applications of artificial intelligence will revolve around the development of autonomous systems...
Everyday animals maneuver through complex unstructured environments provided by the natural world. One way in which we can study these behaviors in animals is by partitioning the natural world into differing domains and analyzing the...
Through limb structure and neuromuscular control, animals have demonstrated the ability to navigate obstacles and uneven terrain using a variety of different mechanisms and behaviors. Learning from the capabilities of animals, it is...
Dynamic robots require robust controllers to successfully plan and navigate the unstructured world around us. Novel control methods become necessary when these robots' environments are dynamic and the robots themselves have fast and...
In order to fully exploit robot motion capabilities in complex environments, robots need to reason about obstacles in a non-binary fashion. In this paper, we focus on the modeling and characterization of pliable materials such as tall...
Some of the material in is restricted to members of the community. By logging in, you may be able to gain additional access to certain collections or items. If you have questions about access or logging in, please use the form on the Contact Page.