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Stairs are a primary challenge for mobile robots navigating indoor human environments. Stair climbing is a useful, if not necessary, capability for mobile robots in urban search and rescue, security, cleaning, telepresence, elder care, and other applications. Existing stair climbing robots are large, expensive, and not always reliable, especially when descending stairs. In this paper, we present a...
In this paper, a new impedance control method based on pressure distribution for wearable assist robot on multi-joint part is proposed. Generally, assist robots were designed based on assisting for a simple joint body part of the user such as elbow, knee, limb and so on. These robots can be similar structure to the assisted body part, and they can follow the user's movements. On the other hand, it...
The paper presents the development of an autonomous modular robotic chain, with self-reconfiguring skills and able to perform creeping/walking motion. The module design is presented, as well its kinematics and control system. Some movement strategies are analyzed and, for the best one, the robot model is determined, in order to evaluate its worm-like movement possibilities. The experiments on the...
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