Metal–air batteries for powering robots
The development of advanced unmanned robots is of great significance to promote scientific
progress and innovation, expand application fields, and improve efficiency and safety …
progress and innovation, expand application fields, and improve efficiency and safety …
[HTML][HTML] Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement
Robot designs can take many inspirations from nature, where there are many examples of
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by …
highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by …
Graph‐based subterranean exploration path planning using aerial and legged robots
Autonomous exploration of subterranean environments remains a major challenge for
robotic systems. In response, this paper contributes a novel graph‐based subterranean …
robotic systems. In response, this paper contributes a novel graph‐based subterranean …
Recent progress in legged robots locomotion control
J Carpentier, PB Wieber - Current Robotics Reports, 2021 - Springer
Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …
mostly flat ground in controlled settings to generic indoor and outdoor environments …
[PDF][PDF] Cerberus: Autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the darpa subterranean challenge
Autonomous exploration of subterranean environments constitutes a major frontier for
robotic systems as underground settings present key challenges that can render robot …
robotic systems as underground settings present key challenges that can render robot …
Offline motion libraries and online MPC for advanced mobility skills
We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …
robots with legs and wheels. The generation of complex motions over a long-time horizon …
Advanced skills by learning locomotion and local navigation end-to-end
The common approach for local navigation on challenging environments with legged robots
requires path planning, path following and locomotion, which usually requires a locomotion …
requires path planning, path following and locomotion, which usually requires a locomotion …
Whole-body mpc and online gait sequence generation for wheeled-legged robots
M Bjelonic, R Grandia, O Harley… - 2021 IEEE/RSJ …, 2021 - ieeexplore.ieee.org
Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …
[HTML][HTML] A survey of the development of biomimetic intelligence and robotics
Biomimetics is the development of novel theories and technologies by emulating the models
and systems of nature. The transfer of function from biological science into engineering …
and systems of nature. The transfer of function from biological science into engineering …
Trajectory optimization for wheeled-legged quadrupedal robots driving in challenging terrain
Wheeled-legged robots are an attractive solution for versatile locomotion in challenging
terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse …
terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse …