Research
Research
Research
Research
475+ open-access research outputs.
Musculoskeletal robots offer intrinsic compliance and flexibility, providing a promising paradigm for versatile locomotion. However, existing research typically relies on models with fixed muscle phys…
Deep reinforcement learning has recently achieved strong results in quadrupedal locomotion, yet policies trained in simulation often fail to transfer when the environment changes. Evolutionary reinfor…
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on…
One of the biggest challenges in the optimization of micro-scale fluid transport phenomena is the prediction of unsteady fluid flow in the presence of rough channel walls. Even though the accuracy of …
We introduce a Lattice-Boltzmann-driven kinetic physics-informed neural network (K-PINN) for predictive modeling of droplet dynamics on structured surfaces, in which the discrete Boltzmann-BGK equatio…
Due to brain-body co-evolution, animals' intrinsic body dynamics play a crucial role in energy-efficient locomotion, which shares control effort between active muscles and passive body dynamics -- a p…
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A human provided high-…
Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of …
A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-roa…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic ar…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable …
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates…
With advances in reinforcement learning and imitation learning, quadruped robots can acquire diverse skills within a single policy by imitating multiple skill-specific datasets. However, the lack of d…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current mult…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a …
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extend…
Exploring lunar lava tubes requires robots to traverse without human intervention. Because pre-trained policies cannot fully cover all possible terrain conditions, our goal is to enable adaptive polic…
Although legged robots demonstrate impressive mobility on rough terrain, using them safely in cluttered environments remains a challenge. A key issue is their inability to avoid stepping on low-lying …
Counting immunopositive cells on biological tissues generally requires either manual annotation or (when available) automatic rough systems, for scanning signal surface and intensity in whole slide im…
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