The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
The wall pressing arms of a screw drive in-pipe robot are usually designed by using springs to be elastic. This is because pipe-diameter adaptability and climbing obstacle capability can be enhanced by the elastic arms. However, the axis of the robot deviates from that of the pipe exactly because of elasticity and gravity. Some extra energy is consumed wastefully due to wheel slipping and spring deformation...
Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method for the stair-climbing of a transformable tracked robot, Amoeba-II, and this robot is also an isomerism-modules robot with different mechanism modules. Based on the reasonable compartmentalization and kinematics analysis of the stair-climbing process, the coordination of the rotations of modules...
The reconfiguration is always an important issue for a transformable robot, Amoeba-II. In the shape-shifting process, the friction between the tracks and the ground generally makes it difficult for the robot to finish the transformation and it also consumes much energy. To solve the configuration problem, this paper proposes a dynamic shape-shifting approach for the transformable tracked robot, Amoeba-II...
Performing the dangerous mission such as planetary exploration, reconnaissance, anti-terrorism, and rescue, the mobile robot should be capable of moving in the complex and unpredictable environment where the ground may be soft and hard, even and uneven. To access to such terrain features, a novel robot with the self-adaptive mobile mechanism, named as Amoeba-III, has been proposed and developed. It...
This paper focuses on the reconfiguration optimization of the swarm configurations assembled by the reconfigurable wheel-manipulator robots, which can independently perform the actions of locomotion and manipulation. The aim of reconfiguration is to generate better configurations while adapting to the environment. The reconfiguration of swarm configurations can be classified into the configuration...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.