相关论文: Validation of Tumbling Robot Dynamics with Posture…
Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-based object detection model and depth data from an onboard…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking…
This work employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic institutions to participate NASA's Breakthrough, Innovative \&…
This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed…
This research focuses on enabling Northeastern University's Husky, a multi-modal quadrupedal robot, to navigate narrow paths akin to various animals in nature. The Husky is equipped with thrusters to stabilize its body during dynamic…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
This research concentrates on enhancing the navigational capabilities of Northeastern Universitys Husky, a multi-modal quadrupedal robot, that can integrate posture manipulation and thrust vectoring, to traverse through narrow pathways such…
There has been significant advancement in legged robot's agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture manipulation. To expand the stability and locomotion plasticity,…
The Pugachev's cobra maneuver is a dramatic and demanding maneuver requiring the aircraft to fly at extremely high Angle of Attacks (AOA) where stalling occurs. This paper considers this maneuver on tail-sitter UAVs. We present a simple yet…
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,…