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This research aims to develop a novel foot sole mechanism which utilizes the jamming transition effect of granular material enclosed in an air tight bag, for use by bipedal robot walking on uneven ground. The mechanism is designed to make the foot sole be soft and compliant to adapt to the surface of an uneven terrain, and be stiff when the robot is in the support phase of the walking gait. The stiffness-variable...
Control systems for Autonomous mobile delivery robots have been described before. However, the control they provide is limited, leaving potential for serious errors. The current mobile robot systems concentrate on position accuracy and operational function but leave open management of safety hazards such as entering the dangerous and not intended areas as stairway. In order to increase the safety...
In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
Walking through narrow space for multi-legged robot is optimized using reinforcement learning in this paper. The walking is generated by the virtual repulsive force from the estimated obstacle position and the virtual impedance field. The resulted action depends on the parameter of the virtual impedance coefficients. The reinforcement learning is employed to find an optimal motion. The temporal walking...
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