相关论文: Development of a Steel Bridge Climbing Robot
This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
This paper presents an innovative solution to the issue of infrastructure deterioration in the U.S., where a significant portion of facilities are in poor condition, and over 130,000 steel bridges have exceeded their lifespan. Aging steel…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
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,…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
The increasing demand for critical raw materials has revitalized interest in abandoned underground mines, which pose extreme challenges for conventional drilling machinery due to confined, unstructured, and infrastructure-less environments.…
Exploration of confined spaces, such as pipelines and ducts, remains challenging for conventional rigid robots due to limited space, irregular geometry, and restricted access. Inspired by caterpillar locomotion and sensing, this paper…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…
This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction,…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to…