Related papers: Simple Two-wheel Self-Balancing Robot Implementati…
In recent years, labor shortages due to the declining birthrate and aging population have become significant challenges at construction sites in developed countries, including Japan. To address these challenges, we are developing an open…
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
We propose a component-based semantic model for Cyber-Physical Systems (CPSs) wherein the notion of a component abstracts the internal details of both cyber and physical processes, to expose a uniform semantic model of their externally…
We propose a component-based semantic model for Cyber-Physical Systems (CPSs) wherein the notion of a component abstracts the internal details of both cyber and physical processes, to expose a uniform semantic model of their externally…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Cyber-Physical Systems (CPS) play a vital role in the operation of intelligent interconnected systems. CPS integrates physical and software components capable of sensing, monitoring, and controlling physical assets and processes. However,…
A Cyber-Physical-Social System (CPSS) is an emerging paradigm often understood as a physical and virtual space of interaction which is cohabited by humans and sensor-enabled smart devices. In such settings, human interaction behaviour is…
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…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
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…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…
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…
Cyber-Physical Systems (CPS) are systems controlled by one or more computer-based components tightly integrated with a set of physical components, typically described as sensors and actuators, that can either be directly attached to the…
The integration of cyber technologies (computing and communication) with the physical world gives rise to complex systems referred to as Cyber Physical Systems (CPS), for example, manufacturing, transportation, smart grid, and water…
Cyber-Physical System (CPS) represents systems that join both hardware and software components to perform real-time services. Maintaining the system's reliability is critical to the continuous delivery of these services. However, the CPS…
Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…