相关论文: Kinematics of Spherical Robots Rolling Over 3D Ter…
Swarm robotics promises adaptability to unknown situations and robustness against failures. However, it still struggles with global tasks that require understanding the broader context in which the robots operate, such as identifying the…
This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…
We analyse the motion of a sphere that rolls without slipping on a conical surface having its axis in the direction of the constant gravitational field of the Earth. This nonholonomic system admits a solution in terms of quadratures. We…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Self-propelled particles have been experimentally shown to orbit spherical obstacles and move along surfaces. Here, we theoretically and numerically investigate this behavior for a hydrodynamic squirmer interacting with spherical objects…
An extension of the Method of Regularized Stokeslets (MRS) in three dimensions is developed for triangulated surfaces with a piecewise linear force distribution. The method extends the regularized Stokeslet segment methodology used for…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
We study the geometry associated with the kinematics of a planar robot known as the "three-segment snake," whose velocity distribution belongs to a class of (2,3,5) distributions. We discover that, under certain assumptions on its…
Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two complementary spherical mapping systems: a…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot's heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
Soft mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…