Related papers: A Tutorial on Modeling and Control of Slippage in …
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
In the paper, a mathematical model assembling a "driver - mobile vehicle - road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific…
Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…
Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often oversimplify the issue by treating slippage as a binary occurrence. Our research presents a framework that…
Slip and crumple detection is essential for performing robust manipulation tasks with a robotic hand (RH) like remote surgery. It has been one of the challenging problems in the robotics manipulation community. In this work, we propose a…
The arrangement of an in-pipe climbing robot that works using a sharp transmission part to explore complex relationship of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while researching in pipe…
When a mobile manipulator's wheel loses contact with the ground, tipping-over may occur, causing material damage, and in the worst case, it can put human lives in danger. The tip-over stability of wheeled mobile manipulators must not be…
This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…
The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the…
Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…