Related papers: A Pin-Array Structured Climbing Robot for Stable L…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms,…
Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…
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…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot…
Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map,…
While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
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…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…