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The unique mobility characteristics that make novel robotic platforms potential assets to the search and rescue community can also, unfortunately, provide obstacles in transitioning them from use in the lab to effective use in the field. For example, snake-like robots have small-cross sectional areas that enable them to weave through extremely tightly-packed volumes, e.g., collapsed buildings. Unfortunately,...
In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in "T" configuration, the mathematical model of force is established...
3D point clouds acquired with lidars are an important source of data for the classification of outdoor environments by autonomous terrestrial robots. We propose here a two-layer classification system. The first layer consists of a Gaussian mixture model, issued from unsupervised training, which defines a large set of data-oriented classes. The second layer consists of a supervised, manual grouping...
In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. Several attempts to reproduce such behaviors in snake robots range from compliant...
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