Zobrazeno 1 - 10
of 3 997
pro vyhledávání: '"Legged locomotion"'
Autor:
Imran, Basit Muhammad
This dissertation explores the development of sophisticated distributed layered control algorithms focused on the navigation, planning, and control of multi-agent quadrupedal robots collaborating in uncertain environments. Quadrupedal robots are high
Externí odkaz:
https://hdl.handle.net/10919/121227
Publikováno v:
Advanced Intelligent Systems, Vol 6, Iss 10, Pp n/a-n/a (2024)
Dynamic and agile locomotion in legged robots enables them to overcome obstacles and navigate complex and unstructured terrain. However, the leg mechanisms and actuators needed for versatile locomotion are much more challenging to manufacture and int
Externí odkaz:
https://doaj.org/article/2d0a3e0fce1342ddab2340cba3c16ab1
Publikováno v:
IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol 32, Pp 3891-3901 (2024)
Although powered prosthetic legs have enabled more biomimetic joint kinematics during steady-state activities like walking and stair climbing, transitions between these activities are usually handled by discretely switching controllers without consid
Externí odkaz:
https://doaj.org/article/08617c493d85426e913815ac8808ef66
Publikováno v:
IEEE Access, Vol 12, Pp 157531-157539 (2024)
This article studies a robust controller capable of responding to external forces applied to a quadruped robot. Unlike conventional methods, our controller utilizes information about external forces to achieve better performance. We incorporate distu
Externí odkaz:
https://doaj.org/article/799bbc04d93c42dfbe61ff5bfbb1027d
Autor:
Shamanth Shanmuga Prasad, Youngwoo Kim
Publikováno v:
IEEE Access, Vol 12, Pp 111126-111141 (2024)
This paper introduces an innovative approach that seamlessly integrates a Genetic Algorithm (GA)-based method for generating and optimizing gait patterns with inverse dynamics analysis within the realm of personalized robot-assisted rehabilitation/tr
Externí odkaz:
https://doaj.org/article/9f81dc930aa7449ab3f5bf016cba77b9
Autor:
Deok Ha Kim, Jong Hyeon Park
Publikováno v:
IEEE Access, Vol 12, Pp 20003-20018 (2024)
Controlling quadruped robots during dynamic motions presents significant challenges due to constraints on ground reaction forces and the inherent complexity of their dynamics. Model predictive control (MPC) has shown promise in addressing these chall
Externí odkaz:
https://doaj.org/article/6d9061bf492847cfb67e9b01f6c1dc48
Autor:
Yusuke Seki, Akio Yamamoto
Publikováno v:
Robotics, Vol 13, Iss 9, p 131 (2024)
A simple actuator to create non-reciprocal leg motion is imperative in realizing a multi-legged micro-locomotion mechanism. This work focuses on an arch-shaped electrostatic actuator as a candidate actuator, and it proposes the operation protocol to
Externí odkaz:
https://doaj.org/article/d3bdc2093db94089bad99dceeb271269
Autor:
Pandala, Abhishek-Goud
This dissertation aims to realize the goal of developing robust control solutions that can enable legged robots to navigate complex unknown environments. The idea of creating articulated-legged machines that can mimic animal locomotion has fueled the
Externí odkaz:
https://hdl.handle.net/10919/117340
Publikováno v:
Actuators, Vol 13, Iss 7, p 240 (2024)
This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-
Externí odkaz:
https://doaj.org/article/4ca6155239a9409e8e9066b62d78fd2a
Autor:
Alessandro Brugnera Silva, Marc Murcia, Omid Mohseni, Ryu Takahashi, Arturo Forner-Cordero, Andre Seyfarth, Koh Hosoda, Maziar Ahmad Sharbafi
Publikováno v:
Biomimetics, Vol 9, Iss 3, p 164 (2024)
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cos
Externí odkaz:
https://doaj.org/article/2a9bcde0ccc44ca5b5ca60d96459eafa