Research
Research
Research
Research
10,103+ open-access research outputs.
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional desi…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringe…
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-depe…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, w…
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety filters have proven e…
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develop an impact-aware Mo…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging,…
Circuits' and in particular DC/DC converters' switching behavior is analyzed in this paper using the equivalent control modeling of the dynamic systems' sliding mode regime. As a representative exampl…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and c…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (So…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness acr…
Satellite constellation design requires optimizing orbital parameters across multiple satellites to maximize mission specific metrics. For many types of mission, it is desirable to maximize coverage a…
Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. …
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions,…
Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously v…
Classical guidance laws aim at minimizing the miss distance, thus implicitly determining the minimum warhead lethality radius required against nominal targets. However, nonnominal targets or scenarios…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable obje…
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