Related papers: Modular Pipe Climber
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Modern climbing robots have risen to great heights, but mechanisms meant to scale cliffs often locomote slowly and over-cautiously on level ground. Here we introduce T-RHex, an iteration on the classic cockroach-inspired hexapod that has…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Rigid multi-link robotic arms face a tradeoff between their overall reach distance (the workspace), and how compactly they can be collapsed (the storage volume). Increasing the workspace of a robot arm requires longer links, which adds…
Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-efficient control. A grand challenge in locomotion is trunk…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule robot, the friction between capsule and the environment…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction,…