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A major problem for a mobile robot aiming to work with people is how to move safely in a crowded environment where the robot-human contact is inevitable. However, most existing solutions focus on finding a collision-free path. Moreover, few of them considers the legged robots, which are believed to find wide applications in human daily life due to their superior mobility in complex artificial environments...
Legged robots have greater capability to traverse irregular terrains. However, one of the most common problems is the failure of the actuators when the robot is working in remote. Fault-tolerant gait about one fault actuator can be found. This paper proposes another algorithm for more than one fault actuators. The degree-of-freedoms (DOFs) of the robot body are divided into two parts: the major DOFs,...
The Octopus is a hexapod robot designed for research on emergency rescue missions in nuclear plants. The robot focused on load-bearing capability and adaptability in different unknown radiation scenarios. Compared with other legged robots, the main difference is that the robot applied 3 degree of freedom (DOF) parallel mechanism which improves the payload capability significantly. In this paper, first...
The design and control of quadruped robots has become a fascinating research field because they have better mobility on unstructured terrains. Until now, many kinds of quadruped robots were developed, such as JROB-1 [1], BISAM [2], BigDog [3], LittleDog [4], HyQ [5] and Cheetah cub [6]. They have shown significant walking performance. However, most of them use serial mechanism legs and have animal...
Starting from the principle and strategy of changing the diameter of walking wheel, applying ANSYS "C FEMBS "C SIMPACK to construct model of flexible connectors with geometric stiffness. Based on the theory of continuous colLision, we introduce mobile marker to define the nonLinear contact between the wheel's caster and ground. The rigid-flexible simulation analysis was carried out to wheel...
Water strider can slide agilely on water surface at high speed. To study its locomotion characters, movements of water strider are recorded by a high speed camera. The trajectories and angle variations of water strider leg are obtained from the photo series, and provide basic information for bionic robot design. Thus a water strider robot based on surface tension is proposed. The driving mechanism...
Water strider can stay and move quickly on water surface by surface tension. Water strider robot inspired by such small aquatic insect would have a wide variety of applications in military reconnaissance, environmental monitoring, and pipeline inspection. However load capacity of the robot is a big challenge for its practicality. Under this situation research on load capacity of water strider robot...
This paper describes a new developed dual-tripod walking robot with a steering-wheel, this robot has a feature of independent straight going control and omnidirectional steering control; The robot walking velocity control is only dependant on its gait period and stride length, while its motion direction control is only dependant on its steering wheel, and the final motion will be the motion synthesis...
A new six legged robot for rugged terrain of deep-space exploration is developed. This robot consists of a special steering mechanism which includes two parallel mechanisms. It can reduce the difficulty of control, turn a random angle and realize the pivot steering without the motion of foothold. The gaits of straight going and omnibearing steering are planned. Finally through the kinematics, dynamics...
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