相关论文: Mobile Icosapods
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical…
A geometric figure is a reptile if it can be dissected into at least two similar copies congruent to each other. We prove that if a trapezoid is a reptile and not a parallelogram, then the length of each base is a linear combination of the…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…
Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the SoftFoot the idea of…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Topologically nontrivial adiabatic loops of the orientation of a homogeneous external magnetic field drive the walking of paramagnetic colloidal bipeds above a deformed quasi-periodic magnetic square pattern. Depending on the topological…
Molecular spiders are synthetic bio-molecular systems which have "legs" made of short single-stranded segments of DNA. Spiders move on a surface covered with single-stranded DNA segments complementary to legs. Different mappings are…
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…
Designing an m-bar linkage with a maximal number of assembly modes is important in robot kinematics, and has further applications in structural biology and computational geometry. A related question concerns the number of assembly modes of…
Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies and control strategies, their robotic counterparts also demonstrate effective terrestrial…
Proper Orthogonal Decomposition (POD) is a widely used technique for the construction of low-dimensional approximation spaces from high-dimensional input data. For large-scale applications and an increasing amount of input data vectors,…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…