相关论文: Decentralized Control of a Hexapod Robot Using a W…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…

This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…

For a network of interconnected nonlinear dynamical systems an adaptive leader-follower output feedback synchronization problem is considered. The proposed structure of decentralized controller and adaptation algorithm is based on…

In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…

Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…

Large-scale, diverse robot datasets have emerged as a promising path toward enabling dexterous manipulation policies to generalize to novel environments, but acquiring such datasets presents many challenges. While teleoperation provides…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…

We present a synchronization algorithm to let nodes in a sensor network simultaneously execute a task at a given point in time. In contrast to other time synchronization algorithms we do not provide a global time basis that is shared on all…

Robots are improving their autonomy with minimal human supervision. However, auditable actions, transparent decision processes, and new human-robot interaction models are still missing requirements to achieve extended robot autonomy. To…

Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…

Operators working with robots in safety-critical domains have to make decisions under uncertainty, which remains a challenging problem for a single human operator. An open question is whether two human operators can make better decisions…

Self-repelling two-leg (biped) spider walk is considered where the local stochastic movements are governed by two independent control parameters $ \beta_d$ and $ \beta_h $, so that the former controls the distance ($ d $) between the legs…

When we go for a walk with friends, we can observe an interesting effect: From step lengths to arm movements - our movements unconsciously align; they synchronize. Prior research found that this synchronization is a crucial aspect of human…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…

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…