相关论文: Creating a biologically more accurate spider robot…

Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…

Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the…

Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…

To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…

Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…

Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider…

In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…

We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a…

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…

One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…

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…

The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly agile movements. Therefore, the spine is also a promising…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…