相关论文: The Hbot : A Holonomic Spherical Haptic Interface …

In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…

This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled…

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…

Recent developments of low cost off-the-shelf programmable components, their modularity, and also rapid prototyping made educational robotics flourish, as it is accessible in most schools today. They allow to illustrate and embody…

This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical…

This paper presents the scientific body of knowledge behind the Human Biodynamics Engine (HBE), a human motion simulator developed on the concept of Euclidean motion group SE(3), with 270 active degrees of freedom, force-velocity-time…

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…

We propose a novel hands-free control framework for the Boston Dynamics Spot robot using the Microsoft HoloLens 2 mixed-reality headset. Enabling accessible robot control is critical for allowing individuals with physical disabilities to…

A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…

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 presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…

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…

Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…

In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…

HOLONOMY is a virtual environment based on the mathematical concept of hyperbolic geometry. Unlike other environments, HOLONOMY allows users to seamlessly explore an infinite hyperbolic space by physically walking. They use their body as…