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Snakes on a plan: Toward combining planning and control

Ross L. Hatton, Ross A. Knepper, Howie Choset, David Rollinson, Chaohui Gong, Enric Galceran
2013 2013 IEEE International Conference on Robotics and Automation  
The contribution of this paper rests on the "virtual chassis" which is a choice of body frame for the snake robot that allows the planner to efficiently select among and plan with gaits to direct the robot  ...  Finally, snake robots often have multiple modes of interaction with the terrain as contacts are made and broken, leading to complex and imperfect motion models.  ...  ACKNOWLEDGMENTS We thank Matthew Tesch and Matthew Travers for their assistance in integrating the ODE-based Modsnake simulator with our motion planner.  ... 
doi:10.1109/icra.2013.6631317 dblp:conf/icra/HattonKCRGG13 fatcat:g6uujnduabcz3mtkiuse34kk3y

Kinematics and the Implementation of a Modular Caterpillar Robot in Trapezoidal Wave Locomotion

Hongxing Wei, Yuanyang Cui, Haiyuan Li, Jindong Tan, Yong Guan, Yong-Dong Li
2013 International Journal of Advanced Robotic Systems  
With the development of bionic engineering, research into bionic robots has become a popular topic.  ...  The current paper presents a caterpillar robotic mechanism that is composed of our newly-developed self-assembly modular robots (Sambot).  ...  Bayraktaroglu [8] investigated the snake-like locomotion of a biologically inspired wheel-less snake robot.  ... 
doi:10.5772/56727 fatcat:lvbqzvy3cvgw3ivnkf5gnieiqm

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
Tests in real outdoor and non-structured environments with the WorkPartner robot are realized and experimental results are shown.  ...  allow the robot to walk with different gaits over rough terrain.  ...  We explain how we use a simulated annealing algorithm for calibrating different parametric sets for different ranges of speeds, with the constriction of avoiding discontinuities, and we present our results  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
Wehbe, R., +, LRA Oct. 2019 4262-4269 Autonomous 3-D Reconstruction, Mapping, and Exploration of Indoor Environments With a Robotic Arm.  ...  ., +, LRA Jan. 2019 105-112 Transcend Anthropomorphic Robotic Grasping With Modular Antagonistic Mechanisms and Adhesive Soft Modulations.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages.  ...  ., +, LRA April 2021 1423-1430 Indoor environment Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Design of a modular mobile multi robot system: ULGEN (universal-generative robot)

Hasan Ercan, Pinar Boyraz
2016 2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)  
This model is a generalized to be used in both indoor and outdoor environments by calibrating the measurements.  ...  Robotic structures with conventional morphologies usually have more complicated structures compared to the modular robot systems.  ... 
doi:10.1109/acirs.2016.7556179 fatcat:depquwzoljdixh57knl2bdygza

Synergistic Sensory Platform: Robotic Nurse

Igor Peshko, Romuald Pawluczyk, Dale Wick
2013 Journal of Low Power Electronics and Applications  
The robotic platform Nav-2 exploits innovative OPEN ACCESS principles of any-direction motion with omni-wheels, navigation and environment analysis.  ...  , which are wirelessly communicating with the MRP.  ...  We also appreciate the fruitful discussions with Stephen Sutherland, President of CrossWing, Inc., who helped to clarify the requirements for the robotic platform in different applications and conditions  ... 
doi:10.3390/jlpea3020114 fatcat:4hp32gq7yfec3gsweg4n4tbdba

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Tonegawa for his help with the experiments.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Theta phase coding in a network model of the entorhinal cortex layer II with entorhinal-hippocampal loop connections

Jun Igarashi, Hatsuo Hayashi, Katsumi Tateno
2006 Cognitive Neurodynamics  
To move to another floor, a mobile robot should recognize various objects related to an elevator, e.g., elevator control, call buttons, and LED displays.  ...  Abstract In this paper, we address object recognition for a mobile robot which is deployed in a multistory building.  ...  We verified the fundamental operation of two coupled element circuits with HSPICE. The results demonstrated that the circuits synchronized with in-and anti-phase depending on coupling strengths.  ... 
doi:10.1007/s11571-006-9003-8 pmid:19003510 pmcid:PMC2267667 fatcat:avihqfr6a5e7tm43lythi27n3a

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat
In the control of snake robots which allow 3D motion, the usual approach is to directly drive joints with carefully designed parametrized wave functions [184] or to define desired body shape in Cartesian  ...  The robot is capable of executing a wide range of different walking gaits, although in our previous work we have mostly used low and wide posture gaits with relatively high duty factor of 0.8.  ...  The evaluation procedure for k-th gait is: 1. Simulate the robot until it makes 13 steps and record the data required for the metrics calculation. 2.  ... 
doi:10.5075/epfl-thesis-8788 fatcat:mtd35y3cmvhklbjurfeoc3icue

Motion planning by genetic algorithm for a redundant manipulator using an evaluation function based on criteria of skilled operators

T. Shibata, T. Abe, K. Tanie, M. Nose
Proceedings of 1995 IEEE International Conference on Robotics and Automation  
15 Development and Analysis of a Snake Robot with Flexible Connectors Y.  ...  It is anticipated that a large degree of dexterity is required to tackle complex indoor and outdoor terrains as well as decaying urban/industrial settings.  ... 
doi:10.1109/robot.1995.525631 dblp:conf/icra/ShibataATN95 fatcat:vzk3brbh3rh7xaln5vowvqxnue

Multimodal human-robot interaction in an assistive technology environment

Zhi Li
This thesis concentrates on the realization of the transactional intelligence, which enables the robot to naturally and effectively interact with human users.  ...  A domestic assistive robot has the potential to supplement humans in the provision of assistance for the elderly with simple daily tasks, such as retrieving small objects from various places, switching  ...  Illumination technology, it can be deployed in both indoor and outdoor environments.  ... 
doi:10.4225/03/58a66bb16debc fatcat:2v7hklvpifhkhe7ygknmlwkcvy

Table of Contents

2016 Australian Journal of Primary Health  
When patch sizes and exposure ranges are not optimized, the approach results in Matthew's correlation coeficient (MCC) values around 0.51 on images from both indoor and outdoor scenes.  ...  By understanding the fundamentals of the motion for this three-link system, we gain a powerful understanding of similar systems like snake robots and sand swimmers.  ... 
doi:10.1071/pyv22n4toc fatcat:hrwhnxdpjreslhuwi7y4edqmo4

The Evolution of Smart Buildings: An Industrial Perspective of the Development of Smart Buildings in the 2010s

Matthew Marson
Initially, sustainability was the primary focus with the use of HVAC analytics and advanced metering in the early 2010s.  ...  Through an analysis of the author's peer reviewed and published works (book chapters, articles, essays and podcasts), supplemented with additional contextual academic literature, a model for how the key  ...  with engineering firms and design firms on integration?  ... 
doi:10.34737/vvqx9 fatcat:5glv6xg4xvd3ndiqn3jucjedda

Research Summit 2021- Book of Abstracts [article]

Artur Silva, António Teixeira
contribution aligned with the goals of the Sustainable Development Agenda of the United Nations for 2030 (SDG 3 -good health and wellbeing; SDG 10 -reduce inequalities; SDG 11sustainable cities and communities  ...  Biorefineries Biobased thermoplastic composites with high cellulose incorporation Bruno Valente, Carmen Freire, Carla Vilela, Carlos de Pascoal Neto Biocomposites, reinforced with cellulose fibers,  ...  Less attention has been paid to indoor particles, despite the fact that people spend ~90% of their time indoors and that indoor exposure may be even more harmful than outdoors.  ... 
doi:10.48528/qdpf-e229 fatcat:o6eqjoqg65arljzd4agsarc4uq