相关论文: Mobile Icosapods
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
This paper presents an algorithm that finds a centroidal motion and footstep plan for a Spring-Loaded Inverted Pendulum (SLIP)-like bipedal robot model substantially faster than real-time. This is achieved with a novel representation of the…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Humans are efficient, yet expressive in their motion. Human walking behaviors can be used to walk across a great variety of surfaces without falling and to communicate internal state to other humans through variable gait styles. This…
This work examines two ways of using proper orthogonal decomposition (POD) to enhance the prior work of EITPose, a device which uses electrical impedance tomography (EIT) to detect posture by way of a band of electrodes on the forearm.…
A microstructured array of over 1200 electrodes on a substrate has been configured to generate an array of local minima of electric field strength with a periodicity of $120 \mu$m about $25 \mu$m above the substrate. By applying…
Retaining the combinatorial Euclidean structure of a regular icosahedron, namely the 20 equiangular (planar) triangles, the 30 edges of length 1, and the 12 different vertices together with the incidence structure, we investigate variations…
The viscous drag on a slender rod by a wall is important to many biological and industrial systems. This drag critically depends on the separation between the rod and the wall and can be approximated asymptotically in specific regimes,…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
The effective potential is computed for two boson systems in one trap as a function of their two individual hyperadii and the distance between their centers. Zero-range interactions are used and only relative s-states are included.…
Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this…
Modular microrobotics can potentially address many information-intensive microtasks in medicine, manufacturing and the environment. However, surface area has limited the natural powering, communication, functional integration, and…
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks…
Consider a periodical (in two independent directions) tiling of the plane with polygons (faces). In this article we shall only give examples using squares, regular hexagons, equilateral triangles and parallelograms ("unions" of two…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…