Related papers: Geometric Kinematic Control of a Spherical Rolling…
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…
Since the past few decades, several designs and control methods have been developed for the Spherical Robots (SRs) with thoroughly analyzed mechanics on generalized 3D terrains. But the vertical motion and the steep inclination maneuver has…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
We present ROCK (Rolling One-motor Controlled rocK), a 1 degree-of-freedom robot consisting of a round shell and an internal pendulum. An uneven shell surface enables steering by using only the movement of the pendulum, allowing for…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
We study well-posedness, stabilization and control problems involving freely vibrating beams that may undergo motions of large magnitude -- i.e. large displacements of the reference line and large rotations of the cross sections. Such…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…