相关论文: Pacific Lamprey Inspired Climbing
Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and although proven to be efficient, it does not…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…
In recent years, advancements in hardware have enabled quadruped robots to operate with high power and speed, while robust locomotion control using reinforcement learning (RL) has also been realized. As a result, expectations are rising for…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations of terrain features in the 3-D world gives limbless animals…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
Modern climbing robots have risen to great heights, but mechanisms meant to scale cliffs often locomote slowly and over-cautiously on level ground. Here we introduce T-RHex, an iteration on the classic cockroach-inspired hexapod that has…