Related papers: Physical Simulation of Inarticulate Robots
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
The phenomena of radial and axial segregation in a horizontal rotating cylinder containing a mixture of granular particles of two different species have been modeled using discrete particle simulation. Space-time plots and detailed imagery…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
With the rising applications of robots in unstructured real-world environments, roboticists are increasingly concerned with the problems posed by the complexity of such environments. One solution to these problems is robot autonomy. Since…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
This paper is devoted to a detailed investigation of the perturbed pendulum-like motions of a heavy rigid body about a fixed point. Canonical variables that allow one to simplify the analysis of homoclinic and heteroclinic orbits are…
The design of amorphous entangled systems, specifically from soft and active materials, has the potential to open exciting new classes of active, shape-shifting, and task-capable 'smart' materials. However, the global emergent mechanics…
Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand,…
We analyze properties of unstable systems at rest and in motion.
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
In the study of discrete dynamical systems, we typically start with a function from a space into itself, and ask questions about the properties of sequences of iterates of the function. In this paper we reverse the direction of this study.…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Cosmic structure simulations have improved enormously over the past decade, both in terms of the resolution which can be achieved, and with the addition of hydrodynamic and other techniques to formerly purely gravitational methods. This is…
Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…
In this contribution, typical friction driven structures are summarized and presented considering the mechanical structures and operation principles of different types of piezoelectric motors. A two degree-of-freedom dynamic model with one…
Integrable models are often constructed with real systems in mind. The exact solvability of the models leads to results which are unambiguous and provide the correct physical picture. In this review, we discuss the physical basis of some…