Related papers: Application of Kalker Theory of Rolling Contact fo…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
The rolling resistance between a pair of contacting particles can be modeled with two mechanisms. The first mechanism, already widely addressed in the DEM literature, involves a contact moment between the particles. The second mechanism…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
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…
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…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics simulators are a central component of modern control pipelines…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…
We propose a simple rubber friction law, which can be used, e.g., in models of tire (and vehicle) dynamics. The friction law is tested by comparing numerical results to the full rubber friction theory (B.N.J. Persson, J. Phys.: Condensed…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
This report describes an approach for simulating multi-body contacts of actively-controlled systems. In this work, we focus on the controls and contact simulation of a 2-dimensional bipedal robot kicking a circular ball.
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…