Related papers: Rollbot: a Spherical Robot Driven by a Single Actu…
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are…
We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
Active matter systems use their internal or ambient source of energy and dissipate them at the scale of individual constituent particles to generate motion. Direct measurement of the energy influx for individual particles has not been…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…