Robot designs can take many inspirations from nature, where there are many examples of
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using …

Rough terrain locomotion has remained one of the most challenging mobility questions. In
2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic …

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains
and environments, such as amphibians that can swim and walk or birds that can fly and …

Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-
fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of …

There have been several successful implementations of bio-inspired legged robots that can
trot, walk, and hop robustly even in the presence of significant unplanned disturbances …

Along with the advancement of robot skin technology, there has been notable progress in
the development of snake robots featuring body-surface tactile perception. In this study, we …

The main contributions of this MS Thesis is centered around taking steps towards successful
multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This …

Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial
mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion …

Object manipulation has been extensively studied in the context of fixed base and mobile
manipulators. However, the overactuated locomotion modality employed by snake robots …

This research focuses on enabling Northeastern University's Husky, a multi-modal
quadrupedal robot, to navigate narrow paths akin to various animals in nature. The Husky is …