Towards Terrain Adaptablity: In Situ Transformation of Wheel-Biped Robots

Article Robotics

An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Wesley Roozing et al.

Summary: This study introduces a novel three-degree-of-freedom compliantly actuated leg called eLeg, employing efficient actuation design and control strategies. Experimental results demonstrate significant improvements in electrical energy consumption compared to traditional actuation configurations.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021)

添加到收藏夹

Article Automation & Control Systems

Self-Balancing Two-Wheeled Robot Featuring Intelligent End-to-End Deep Visual-Steering

Chih-Hung Gilbert Li et al.

Summary: This article introduces a self-balancing wheeled robot called J4.alpha, equipped with intelligent navigation modules and automatic balancing system. Utilizing RGB-D camera and deep convolutional neural network for navigation, combined with topological localization scheme for automatic navigation, the experimental result confirms the effectiveness of the intelligent navigation modules.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

添加到收藏夹

Article Robotics

Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots

Hua Chen et al.

Summary: This study focuses on jumping for wheeled-bipedal robots, developing a comprehensive hierarchical scheme for motion planning and control. The underactuation of wheeled-bipedal dynamics is addressed through a novel W-SLIP model and quadratic programming approach, allowing for accurate tracking of planned trajectories. The overall planning and control scheme is validated through V-REP simulations of a prototype wheeled-bipedal robot.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

添加到收藏夹

Article Automation & Control Systems

Roller-Skating of Mammalian Quadrupedal Robot With Passive Wheels Inspired by Human

Jiawei Chen et al.

Summary: Inspired by human roller-skating, a new dynamic roller-skating gait for a typical mammalian quadrupedal robot with passive wheels is proposed to improve mobile efficiency. By imitating human roller-skating, this dynamic gait based on bilateral symmetry can achieve linear and turning motion, with higher speed and efficiency compared to conventional trotting.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

添加到收藏夹

Article Automation & Control Systems