Related papers: Characterising the take-off dynamics and energy ef…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
We propose an energy-efficient controller to minimize the energy consumption of a mobile robot by dynamically manipulating the mechanical and computational actuators of the robot. The mobile robot performs real-time vision-based…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…
Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…
Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In…
Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and…
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…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-wheel skating reduces leg inertia and improves energy…
Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…
Mobile robots are becoming part of our every day living at home, work or entertainment. Due to their limited power capabilities, the development of new energy consumption models can lead to energy conservation and energy efficient designs.…
Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…
Springs store mechanical energy similar to batteries storing electrical energy. However, conventional springs are heavy and store limited amounts of mechanical energy relative to batteries, i.e they have low mass-energy-density.…