相关论文: ROMR: A ROS-based Open-source Mobile Robot

For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots,…

Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms, primarily based on the da Vinci…

In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…

In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the…

Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…

Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…

This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…

Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…

This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…

We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular…

The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…

Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of (AUVs) restricts the access to them and therefore advances in research and technological…

Robotic models are useful for independently varying specific features, but most quadrupedal robots differ so greatly from animal morphologies that they have minimal biomechanical relevance. Commercially available quadrupedal robots are also…

With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms…