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Mateusz Malarczyk, Grzegorz Kaczmarczyk, Jaroslaw Szrek and Marcin Kaminski
This paper presents the operation of a remotely controlled, wheel-legged robot. The developed Wi-Fi connection framework is established on a popular ARM microcontroller board. The implementation provides a low-cost solution that is in congruence with the...
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Jinfu Li, Yongxi Liu, Ze Yu, Yuntao Guan, Yingzhuo Zhao, Zheming Zhuang and Tao Sun
In this paper, a wheel-legged mobile robot is proposed. The parameter design of the wheel-leg structure is completed using geometric analysis and statics modeling. The curling mechanism is chosen as the main part of the robot, expanding the robot?s appli...
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Yong Gao, Dongliang Wang, Wu Wei, Qiuda Yu, Xiongding Liu and Yuhai Wei
Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, an omnidirectional tracking strategy based on model predictive control and real-time repla...
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Donglai Zhao, Wenjie Ge, Xiaojuan Mo, Yuzhu Li and Zhuo Wang
Due to the high power-to-weight ratio and robustness, hydraulic cylinders are widely used in the actuation area of the legged robot systems. Most of these applications are focused on the motion stability, gait planning, and impedance control. However, th...
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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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Vítor H. Pinto, Inês N. Soares, Marco Rocha, José Lima, José Gonçalves and Paulo Costa
This paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotatio...
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Hong-Chao Zhuang, Hai-Bo Gao and Zong-Quan Deng
Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driv...
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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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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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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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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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Adytia Darmawan, Sanggar Dewanto, Dadet Pramadihanto
Pág. 344 - 357
Position estimation using WIMU (Wireless Inertial Measurement Unit) is one of emerging technology in the field of indoor positioning systems. WIMU can detect movement and does not depend on GPS signals. The position is then estimated using a modified ZUP...
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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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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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Fang Liu, Zexiao Liu, Jialu Gao and Yingchao Jing
Existing research on integrated innovation primarily focuses on the integration of product functions or technologies in the engineering field, with limited exploration of cross-domain integration of biological knowledge. Various organisms exhibit various...
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