3 accepted papers
Model predictive control (MPC) relies on an accurate dynamics model to achieve precise and safe robot operation. In complex and dynamic aquatic environments, developing an accurate model that captures hydrodynamic details and accounts for environmental disturbances like waves, currents, and winds is
We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a tank, and a pneumatic actuator. The tank is charged up by th…
Rigid robots excel in structured conditions but struggle in more unpredictable or populated environments. Soft robots address these difficulties, but the compliance which gives them their inherent safety also limits their ability to apply desired forces. Jamming/locking reduces this back-drivability