相关论文: Three-Dimensional Dynamic Modeling and Motion Anal…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…

The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…

The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the…

Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…

The objective of this work is to design a mechatronic bipedal robot with mobility in 3D environments. The designed robot has a total of six actuated degrees of freedom (DoF), each leg has two DoF located at the hip: one for…

Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…

The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex…

The pursuit of agile and efficient underwater robots, especially bio-mimetic robotic fish, has been impeded by challenges in creating motion controllers that are able to fully exploit their hydrodynamic capabilities. This paper addresses…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…

Animal and robot social interactions are interesting both for ethological studies and robotics. On the one hand, the robots can be tools and models to analyse animal collective behaviours, on the other hand, the robots and their artificial…

Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…

In this paper, we study a nonlinear system of first order partial differential equations describing the macroscopic behavior of an ensemble of interacting self-propelled rigid bodies. Such system may be relevant for the modelling of bird…

Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…

Data-driven discovery of governing equations has kindled significant interests in many science and engineering areas. Existing studies primarily focus on uncovering equations that govern nonlinear dynamics based on direct measurement of the…

While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…

The original continuous-time "goldfish" dynamical system is characterized by two neat formulas, the first of which provides the $N$ Newtonian equations of motion of this dynamical system, while the second provides the solution of the…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…