Related papers: Pendulum Actuated Spherical Robot: Dynamic Modelin…
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…
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility…
We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a…
Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far…
Skilled motor behavior is critical in many human daily life activities and professions. The design of robots that can effectively teach motor skills is an important challenge in the robotics field. In particular, it is important to…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
Models of a playground swing have been studied since the 1960s. However, in most of them, the position of the swinger is controlled directly. This simplifies the problem but hides the mechanics of torques applied to keep the swing moving in…
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…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion (PROM) exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization. Frozen shoulder is…
Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a…
Having the advantage of being relatively fast and powerful, as well as readily fabricated, spherical bubble-propelled microrobots are particularly well suited for applications such as cargo delivery, micromanipulation, and biological or…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward…