相关论文: Deploying COTS Legged Robot Platforms into a Heter…
Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robot teams frequently operate in unstructured environments --…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…
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…
Human-robot interaction plays a crucial role to make robots closer to humans. Usually, robots are limited by their own capabilities. Therefore, they utilise Cloud Robotics to enhance their dexterity. Its ability includes the sharing of…
Agriculture is currently undergoing a robotics revolution, but robots using wheeled or treads suffer from known disadvantages: they are unable to move over rubble and steep or loose ground, and they trample continuous strips of land thereby…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their capability to walk on complex terrains with a variety of…
The paper focuses on modeling and experimental evaluation of a quadcopter team configurable coordination guided by a single quadruped robot. We consider the quadcopter team as particles of a two-dimensional deformable body and propose a…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, in this paper a new parallel…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…