相关论文: DoubleBee: A Hybrid Aerial-Ground Robot with Two A…
Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payload, a team of robots must closely collaborate and…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct…
Wheeled-legged robots, which have wheels at their feet and achieve high mobility by coordinating wheel drive and leg drive, have been developed. These robots have been developed purely as platforms specialized for locomotion. Therefore,…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Achieving both behavioral similarity and appropriateness in human-like motion generation for humanoid robot remains an open challenge, further compounded by the lack of cross-embodiment adaptability. To address this problem, we propose…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic environments. However, enabling…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…
We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller…
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…