In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems is presented. Using the Stereolithography Apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The desig...

Reinforcement learning (RL) has achieved remarkable success in complex robotic systems (eg. quadruped locomotion). In previous works, the RL-based controller was typically implemented as a single neural network with concatenated observation input. However, corresponding learned policy is highly task-specific. Since all motors are controlled centralized way, out-of-distribution local observation...

This paper presents the activities of the CLAWAR TN project to identify the status for the area of applied robotics and how the traditional robotics industry can evolve to meet the wider needs of industry, society and citizens of the future. The modular philosophy that has been developed by the CLAWAR partnership using the concept of the interaction space is presented. This identifies the diffe...

We seek to formulate control and motion planning algorithms for a class of dynamic robotic locomo-tion systems. We consider mechanical systems that involve some type of interaction with the environment and have dynamics that possess rotational and translational symmetries. Research in nonholo-nomic systems and geometric mechanics has led to a single, simpliied framework that describes this clas...