相关论文: CHIGLU: A Modular Hardware for Stepper Motorized Q…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…
High Voltage CMOS sensors are a promising technology for tracking detectors in collider experiments. Extensive R&D studies are being carried out by the ATLAS Collaboration for a possible use of HV-CMOS in the High Luminosity LHC upgrade of…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…
Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
Robot design is often a slow and difficult process requiring the iterative construction and testing of prototypes, with the goal of sequentially optimizing the design. For most robots, this process is further complicated by the need, when…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
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,…
Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…
We present an innovative robotic device designed to provide controlled motion for studying active matter. Motion is driven by an internal vibrator powered by a small rechargeable battery. The system integrates acoustic and magnetic sensors…
Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
Finite element analysis of solid mechanics is a foundational tool of modern engineering, with low-order finite element methods and assembled sparse matrices representing the industry standard for implicit analysis. We use performance models…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…