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Finding and retrieving resources in unmapped environments is an important and difficult challenge for robot swarms. Central-place foraging algorithms can be tuned to produce efficient collective strategies for different resource distributions. However, efficiency decreases as swarm size scales up: larger swarms produce more inter-robot collisions and increase competition for resources. We propose...
This paper presents a novel active body weight support (BWS) method, which is capable of virtually offloading full or partial body mass for a potential application of enhancing treadmill-based locomotion rehabilitation. The mass-offloading capability is realized by actively compensating a desired amount of body weight and inertia force using an acceleration-feedback scheme. The method has been studied...
This paper describes a computer simulation based investigation of an active body-weight support (BWS) technology which has a high potential of significantly improving treadmill-based locomotion rehabilitation. Using acceleration feedback and force control strategies, the active BWS system can offload not only partial body weight but also partial body mass (thus the dynamic load) of the patient who...
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