Related papers: Three-Dimensional Dynamic Modeling and Motion Anal…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance, friction, and fabrication variability. In this paper, we…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
Tidal and riverine hydrokinetic turbines offer promising solutions for renewable energy generation in aquatic environments. However, their ecological impact, especially on fish behavior, warrants a thorough investigation. This study…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear…
We employ three numerical methods to explore the motion of low Reynolds number swimmers, modeling the hydrodynamic interactions by means of the Oseen tensor approximation, lattice Boltzmann simulations and multiparticle collision dynamics.…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
We review recent advances in the design, synthesis, and modeling of active fluids. Active fluids have been at the center of many technological innovations and theoretical advances over the past two decades. Research on this new class of…
We describe a three-dimensional hydrodynamic lattice-gas model of amphiphilic fluids. This model of the non-equilibrium properties of oil-water-surfactant systems, which is a non-trivial extension of an earlier two-dimensional realisation…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
The deployment of autonomous navigation systems on ships necessitates accurate motion prediction models tailored to individual vessels. Traditional physics-based models, while grounded in hydrodynamic principles, often fail to account for…
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodies. Existing modeling approaches are…
The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally…