相关论文: Gondola: a Parametric Robot Infrastructure for Rep…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
Optimal sensor placement is essential for state estimation and effective network monitoring. As known in the literature, this problem becomes particularly challenging in large-scale undirected or bidirected cyclic networks with parametric…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as…
Geo-distributed analytics (GDA) frameworks transfer large datasets over the wide-area network (WAN). Yet existing frameworks often ignore the WAN topology. This disconnect between WAN-bound applications and the WAN itself results in missed…
Massive data centers are at the heart of the Internet. The rapid growth of Internet traffic and the abundance of rich data-driven applications have raised the need for enormous network bandwidth. Towards meeting this growing traffic demand,…
Wireless Sensor Networks (WSNs) are highly distributed networks consisting of a large number of tiny, low-cost, light-weight wireless nodes deployed to monitor an environment or a system. Each node in a WSN consists of three subsystems: the…
Understanding the wheel-terrain interaction is of great importance to improve the maneuverability and traversability of the rovers. A well-developed sensing device carried by the rover would greatly facilitate the complex risk-reducing…
In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
The growing complexity of wireless systems has accelerated the move from traditional methods to learning-based solutions. Graph Neural Networks (GNNs) are especially well-suited here, since wireless networks can be naturally represented as…
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for…
Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…
Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is particularly challenging due to the dynamic and…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…