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 …

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 …

Despite major advancements in control design that are robust to unplanned disturbances,
bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By …

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 …

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 …

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

Our work aims to make significant strides in understanding unexplored locomotion control
paradigms based on the integration of posture manipulation and thrust vectoring. These …

This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot,
designed for Mars and rescue missions. The research enables the robot to autonomously …

This paper employs a reinforcement learning-based model identification method aimed at
enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging …