相关论文: CObRaSO: Compliant Omni-Direction Bendable Hybrid …
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators.…
This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility…
This paper discusses the design of a novel compliant in-pipe climbing modular robot for small diameter pipes. The robot consists of a kinematic chain of 3 OmniCrawler modules with a link connected in between 2 adjacent modules via compliant…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…
This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing…
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…