相关论文: Mobile Icosapods

Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers…

We introduce a one-dimensional quasiperiodic mosaic model with analytically solvable mobility edges that exhibit different phase transitions depending on the system parameters. Specifically, by combining mosaic quasiperiodic…

The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was…

Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…

Skeletal polyhedra and polygonal complexes are finite or infinite periodic structures in 3-space with interesting geometric, combinatorial, and algebraic properties. These structures can be viewed as finite or infinite periodic graphs…

Computational studies of basic models of strongly-correlated electron systems can provide guidance in the search for new materials as well as insight into the physical mechanisms responsible for their properties. Here, we illustrate this by…

In this paper we study the asymptotic behavior of a structure made of curved rods of thickness 2\delta when \delta rightarrow 0. This study is carried on within the frame of linear elasticity by using the unfolding method. It is based on…

Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…

Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…

In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…

This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics…

The self-organised motion of vast numbers of creatures in a single direction is a spectacular example of emergent order. We recreate this phenomenon using actuated non-living components. We report here that millimetre-sized tapered rods,…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…

We construct a highly-symmetric periodic orbit of six bodies in three dimensions. In this orbit, binary collisions occur at the origin in a regular periodic fashion, rotating between pairs of bodies located on the coordinate axes.…

Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we…

Anisotropic viscous drag is usually believed to be a requirement for the low Reynolds number locomotion of slender bodies such as flagella and cilia. Here we show that locomotion under isotropic drag is possible for extensible slender…

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…