Achieving highly accurate dynamic or simulator models that are close to the real robot can
facilitate model-based controls (eg, model predictive control or linear-quadradic regulators) …

This paper presents a novel approach through the design and implementation of Cycloidal
Quasi-Direct Drive actuators for legged robotics. The cycloidal gear mechanism, with its …

In our video, we present SCALER-B, a multi-modal versatile climbing robot that is a
quadruped robot capable of standing up, bipedal locomotion, bipedal climbing, and pullups …

The goal of this work is to formulate algorithms that can address three key ingredients I
believe are necessary towards making robots autonomous and smart:(1) The robot needs to …

Although robotic locomotion and manipulation have shown some remarkable progress in
the real world, the current locomotion and manipulation algorithms are inefficient in …