Related papers: A Pendulum-Driven Legless Rolling Jumping Robot
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Cyber-physical systems, also known as CPS, is an emerging field of technology that combines the physical and digital worlds by allowing for seamless interaction and communication between the two. One of the key characteristics of a CPS is…
Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying…
The Looping pendulum phenomenon was first introduced in 2019 at the 32nd edition of the IYPT, wherein a lighter bob sweeps around a cylindrical rod to support the weight of a heavier bob. In this paper, the phenomenon was divided based on…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Faced with strong demand for robots working in underwater pipeline environments, a novel underwater multi-model locomotion robot is designed and studied in this research. By mimicking the earthworm's metameric body, the robot is segmented…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining advanced electronic control and actuation have been explored.…
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…