相关论文: The Wheelbot: A Jumping Reaction Wheel Unicycle

Synthetic active collectives, composed of many nonliving individuals capable of cooperative changes in group shape and dynamics, hold promise for practical applications and for the elucidation of guiding principles of natural collectives.…

Many autonomous robots aimed at source-seeking are studied, and their controls designed, using unicycle modeling and formulation. This is true not only for model-based controllers, but also for model-free, real-time control methods such as…

Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

Shake tables serve as a critical tool for simulating earthquake events and testing the response of structures to seismic forces. However, existing shake tables are either expensive or proprietary. This paper presents the design and…

Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far…

The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…

Bikebot manipulation has advantages of the single-track robot mobility and manipulation dexterity. We present a coordinated pose control of mobile manipulation with the stationary bikebot. The challenges of the bikebot manipulation include…

Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as…

This paper presents UAIbot, a free and open-source web-based robotics simulator designed to address the educational and research challenges conventional simulation platforms generally face. The Python and JavaScript interfaces of UAIbot…

Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…

Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…

Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…

Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…