相关论文: Development of a Steel Bridge Climbing Robot

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…

Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…

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…

ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…

Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…

We suggest a multilevel model, to represent aggregate train-passing events from the Staffordshire bridge monitoring system. We formulate a combined model from simple units, representing strain envelopes (of each train passing) for two types…

In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…

Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…

While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…

Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

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…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…

Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…

Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…