相关论文: Self-propulsion of V-shape micro-robot

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…

Since the past few decades, several designs and control methods have been developed for the Spherical Robots (SRs) with thoroughly analyzed mechanics on generalized 3D terrains. But the vertical motion and the steep inclination maneuver has…

Taking inspiration from the crawling motion of biological cells on a substrate, we consider a physical model of self-propulsion where the spatio-temporal driving can involve both, a mechanical actuation by active force couples, and a…

Within a unified formulation, encompassing self-electrophoresis, self-diffusiophoresis, and self-thermophoresis, we provide a simple integral kernel transforming the relevant surface flux to particle velocity for any spheroid with…

This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

Swimming at the microscale has recently garnered substantial attention due to the fundamental biological significance of swimming microorganisms and the wide range of biomedical applications for artificial microswimmers. These microswimmers…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

It is shown that nonsymmetric microobjects orient while settling under gravity in a viscous fluid. To analyze this process, a simple shape is chosen: a non-deformable `chain'. The chain consists of two straight arms, made of touching solid…

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…

We consider arbitrary-shaped microswimmers of spherical topology and propose a framework for expressing their slip velocity in terms of tangential basis functions defined on the boundary of the swimmer using the Helmholtz decomposition.…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

We consider an Individual-Based Model for self-rotating particles interacting through local alignment and investigate its macroscopic limit. This model describes self-propelled particles moving in the plane and trying to synchronize their…

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,…

We describe a promising approach to efficiently morph spherical graphs, extending earlier approaches of Awartani and Henderson [Trans. AMS 1987] and Kobourov and Landis [JGAA 2006]. Specifically, we describe two methods to morph…

Many small organisms self-propel in viscous fluids using travelling wave-like deformation of their bodies or appendages. Examples include small nematodes moving through soil using whole-body undulations or spermatozoa swimming through mucus…

In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment…

We study swimming of small spherical particles who regulate fluid flow on their surface by applying tangential squirming strokes. We derive translational and rotational velocities for any given stroke which is not restricted by axial…

Self-alignment describes the property of a polar active unit to align or anti-align its orientation towards its velocity. In contrast to mutual alignment, where the headings of multiple active units tend to directly align to each other --…