相关论文: Wobble control of a pendulum actuated spherical ro…
In this paper we study the self-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads connected by a rod or a spring; the rod's/spring's length is changing periodically. The…
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven non-holonomic wheels to produce continuous and unlimited spherical…
Bristle bots are vibration-driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
We study the rolling motion of a small solid sphere on a surface patterned rubber substrate in an external field with and without a noise. In the absence of the noise, the ball does not move below a threshold force above which it…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
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 the field, robots often need to operate in unknown and unstructured environments, where accurate sensing and state estimation (SE) becomes a major challenge. Cameras have been used to great success in mapping and planning in such…