Related papers: Ascento: A Two-Wheeled Jumping Robot
Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
This paper presents the MOBIUS platform, a bipedal robot capable of walking, crawling, climbing, and rolling. MOBIUS features four limbs, two 6-DoF arms with two-finger grippers for manipulation and climbing, and two 4-DoF legs for…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to…
This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…