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Daniel Soto-Guerrero, José Gabriel Ramírez-Torres and Eduardo Rodriguez-Tello
Insects are good examples of ground locomotion because they can adapt their gait pattern to propel them in any direction, over uneven terrain, in a stable manner. Nevertheless, replicating such locomotion skills to a legged robot is not a straightforward...
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Yongyong Zhao, Jinghua Wang, Guohua Cao and Xu Yao
This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulation,...
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Kay Smarsly, Kosmas Dragos, Jan Stührenberg and Mathias Worm
With the advancements in information, communication, and sensing technologies, structural health monitoring (SHM) has matured into a substantial pillar of infrastructure maintenance. In particular, wireless sensor networks have gradually been incorporate...
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Guangrong Chen and Liang Hong
Due to the high stability and adaptability, quadruped robots are currently highly discussed in the robotics field. To overcome the complicated environment indoor or outdoor, the quadruped robots should be configured with an environment perception system,...
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Kuo Yang, Xinhui Liu, Changyi Liu and Ziwei Wang
Legged agricultural transportation robots are efficient tools that can autonomously transport goods over agricultural terrain, and their introduction helps to improve the efficiency and quality of agricultural production. Their effectiveness depends on t...
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Jakub Halu?ka, Anton Koval and George Nikolakopoulos
In this article, we address the task of developing a unified solution that incorporates quadruped and aerial robots for planetary exploration missions. The designing process takes recommendations provided by Boston Dynamics for building custom payloads f...
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Jaehoon Sim, Seungyeon Kim, Suhan Park, Sanghyun Kim, Mingon Kim and Jaeheung Park
This paper presents the development of the JET humanoid robot, which is based on the existing THORMANG platform developed in 2015. Application in the industrial and service fields was targeted, and three design concepts were determined for the humanoid r...
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Peter Billeschou, Nienke N. Bijma, Leon B. Larsen, Stanislav N. Gorb, Jørgen C. Larsen and Poramate Manoonpong
Morphology is a defining trait of any walking entity, animal or robot, and is crucial in obtaining movement versatility, dexterity and durability. Collaborations between biologist and engineers create opportunities for implementing bio-inspired morpholog...
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Asghar Khan, Wang Liquan, Wang Gang, Muhammad Imran, Hafiz Muhammad Waqas and Asad A. Zaidi
In this paper, a novel concept designed of a multi-legged underwater manned seabed walking robot is presented. The robot will be used in both shallow water current (1?2 m/sec) and deep water up to 500 m. It is powered by an external electric power source...
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Min-Chan Hwang, Chiou-Jye Huang and Feifei Liu
The primary issue in developing hexapod robots is generating legged motion without tumbling. However, when the hexapod is designed with collocated actuators, where each joint is directly mounted with an actuator, the number of actuators is usually high. ...
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