相关论文: Modeling Elastic-Body Dynamics of Robotic Fish Usi…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Hydrodynamic interactions play a key role in the swimming behavior and power consumption of bio-inspired and bio-mimetic micro-swimmers, Cybernetic or artificial alike. As micro-robotic devices, bio-inspired micro-swimmers require fast and…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…

Autonomous robotic boats are expected to perform several tasks: 1) navigate autonomously in water environments, such as the canals of Amsterdam; 2) perform individual task, such as water monitoring, transporting goods and people; 3) latch…

The high concentration level of the environmental factors, such as a high ammonia concentration and pH level, affect the water quality, affecting fish's survival and mass death. Therefore, there is a critical need to develop control…

The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…

Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. This interaction, referred to as bundling and…

Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…

This paper presents an analytical model and a geometric numerical integrator for a system of rigid bodies connected by ball joints, immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in…

The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…

Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…

We have previously shown how to socially integrate a fish robot into a group of zebrafish thanks to biomimetic behavioural models. The models have to be calibrated on experimental data to present correct behavioural features. This…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…