相关论文: UruBots RoboCup Work Team Description Paper

Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, and collision avoidance against…

Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their…

Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…

Autonomous racing presents a complex challenge involving multi-agent interactions between vehicles operating at the limit of performance and dynamics. As such, it provides a valuable research and testing environment for advancing autonomous…

This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…

There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…

Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…

Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…

This article describes the design and development of robotic prototypes for robotic soccer competitions using Dynamixel motors. Although the prototypes are not aimed at world-class competitions, they represent a significant step in the…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…

A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility…

We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…

We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…

Current research on collaborative robots (cobots) in physical rehabilitation largely focuses on repeated motion training for people undergoing physical therapy (PuPT), even though these sessions include phases that could benefit from…

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…

Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…

Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…

In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…