Related papers: Pipe Climbing Robot
Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on…
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
This paper presents a novel passive three-output differential with three degrees of freedom (3DOF), that translates motion and torque from a single input to three outputs. The proposed Three-Output Open Differential is designed such that…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…
Legged robots with high locomotive performance have been extensively studied, and various leg structures have been proposed. Especially, a leg structure that can achieve both continuous and high jumps is advantageous for moving around in a…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that leverages learned simulation priors to inform…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about…
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…
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…