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This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
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,…
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators.…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…
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 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…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
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…
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terrain and agility over rough terrain. Inspired by these…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…
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…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…