相关论文: Dynamics and Aerial Attitude Control for Rapid Eme…

In this paper, two nonlinear methods for stabilizing the orientation of a Four-Wheel Independent Drive and Steering (4WIDS) robot while in the air are analyzed, implemented in simulation, and compared. AGRO (the Agile Ground Robot) is a…

In the futuristic agricultural fields compatible with Agriculture 4.0, robots are envisaged to navigate through crops to perform functions like pesticide spraying and fruit harvesting, which are complex tasks due to factors such as…

This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

In previous research, various types of aerial robots were developed to improve maneuverability or manipulation abilities. However, there was a challenge in achieving both mobility and manipulation capabilities simultaneously. This is…

This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…

Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…

Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…

Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving…

This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from executing full 360-degree rotations (swerve). The configuration…

A tethered multirotor autogyro can function as an unmanned aerial vehicle for energy-efficient and prolonged deployment, as it uses the available wind energy to sustain flight. This article presents an adaptive altitude control strategy for…

Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a simple yet novel method that relies on passive wing morphing for crash-landing on trees and other…

Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab leverages a single point of contact with the ground to reduce…

Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…

Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…

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…

In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…

The four-wheel independent drive and four-wheel independent steering (4WID-4WIS) configurations enhance control flexibility and dynamic performance potential for more integrated electric vehicles. This paper comprehensively analyzes the…

For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…

Reliable satellite attitude control is essential for the success of space missions, particularly as satellites increasingly operate autonomously in dynamic and uncertain environments. Reaction wheels (RWs) play a pivotal role in attitude…