相关论文: Comparison between External and Internal Single St…
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct: Computational Optimization and…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SWheg takes advantage of both wheeled and legged locomotion by…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…
This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…
Trajectory optimization and posture generation are hard problems in robot locomotion, which can be non-convex and have multiple local optima. Progress on these problems is further hindered by a lack of open benchmarks, since comparisons of…
Many of today's power-split hybrid electric vehicles (HEVs) utilize planetary gears (PGs) to connect the powertrain elements together. Recent power-split HEVs tend to use two PGs and some of them have multiple modes to achieve better fuel…
Robotic systems for legged locomotion -- including legged robots, exoskeletons, and prosthetics -- require actuators with low inertia and high output torque. Traditionally, motors have been selected for these applications by maximizing the…
Robotic systems driven by conventional motors often suffer from challenges such as large mass, complex control algorithms, and the need for additional braking mechanisms, which limit their applications in lightweight and compact robotic…
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…