Related papers: Omnidirectional Tractable Three Module Robot
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms,…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
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…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…