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Development of multi-D.O.F. tracked vehicle to traverse weak slope and climb up rough slope

Keiji Nagatani, Takahiro Noyori, Kazuya Yoshida
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2013 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
In this research, we propose one configuration of the robot, in which the surface of the contact plane at the bottom of the track is horizontal, which is advantageous for traversing a weak slope.  ...  The feasibility of this design was verified in a field experiment on Mt. Kushigata, on the island of Izu-Oshima, and in a simulated volcanic field that was filled with pumice stones.  ...  ACKNOWLEDGMENT The field experiment on the island of Izu-Oshima was supported by "Observation Robot Symposium and Field Experiment," and in particular, by Professor Saiki of Osaka University.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696759">doi:10.1109/iros.2013.6696759</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/NagataniNY13.html">dblp:conf/iros/NagataniNY13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mboemme7fnbprcmobl3mz3gs6a">fatcat:mboemme7fnbprcmobl3mz3gs6a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809023736/http://www.astro.mech.tohoku.ac.jp/~keiji/papers/pdf/2013-IROS-NOY-online.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/af/cc/afcc71340abd0e9f4f630ccc624d922f0965ff14.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696759"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

BIPED LOCOMOTION: STABILITY, ANALYSIS AND CONTROL

Prahlad Vadakkepat, Dip Goswami
<span title="">2008</span> <i title="Exeley, Inc."> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hw2mrqep5ffbzot5ist4jgvge4" style="color: black;">International Journal on Smart Sensing and Intelligent Systems</a> </i> &nbsp;
A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion.  ...  The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.  ...  Figure 11 :Figure 12 : 1112 x-ZMP position during walking with compensation Walking up a slope INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, VOL. 1, NO. 1, MARCH 2008  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.21307/ijssis-2017-286">doi:10.21307/ijssis-2017-286</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lk45nhgmgfc7vpfdcq6n44rfsm">fatcat:lk45nhgmgfc7vpfdcq6n44rfsm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809015634/http://s2is.org/Issues/v1/n1/papers/paper12.pdf?origin=publication_detail" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/db/6c/db6cfe58b0400c6b4ab23d3595e7146f66d456ea.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.21307/ijssis-2017-286"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Anti-slip control based on optimal slip ratio for heavy-haul locomotives

Jing He, Xintian Zuo, Changfan Zhang, Songan Mao, Yunguo He
<span title="2019-03-25">2019</span> <i title="Institution of Engineering and Technology (IET)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zxfhzreokzeshnwnaa3mv4g7wy" style="color: black;">The Journal of Engineering</a> </i> &nbsp;
Finally, an integral sliding mode controller with new reaching law is designed to ensure the slip ratio of locomotives running on different rail surfaces are at optimal values, which maximise the utilisation  ...  To solve the problem of wheelset slip and effectively exert locomotive traction, a protection method of anti-slip control with integral sliding mode based on optimal slip ratio is proposed.  ...  and an intelligent control method.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1049/joe.2018.9187">doi:10.1049/joe.2018.9187</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4olardphfnfhxfnfneyzggmyky">fatcat:4olardphfnfhxfnfneyzggmyky</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210716025741/https://ietresearch.onlinelibrary.wiley.com/doi/pdfdirect/10.1049/joe.2018.9187" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/04/b4/04b4c2e08cc8e14b92f50c57f351293e1e96f9d1.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1049/joe.2018.9187"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion [article]

Sharmita Dey, Sabri Boughorbel, Arndt F. Schilling
<span title="2021-11-14">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
The proposed strategy shows the potential for devising a high-level controller for an intelligent prosthetic ankle that can adapt to different locomotion modes.  ...  Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion.  ...  The control algorithm for an intelligent prosthesis should ideally be able to automatically adapt to different locomotion modes or terrains and different locomotion speeds.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.07419v1">arXiv:2111.07419v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xc3qibvacjgf3eqrglfxgbs6fa">fatcat:xc3qibvacjgf3eqrglfxgbs6fa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20211122182538/https://arxiv.org/pdf/2111.07419v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/94/11/941194a756aabd2b07b5b1a64122b571882f9ca1.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.07419v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Motion analysis of snake robot segment

I. Virgala, M. Kelemen, E. Prada, R. Surovec
<span title="">2013</span> <i title="IEEE"> 2013 IEEE 11th International Symposium on Applied Machine Intelligence and Informatics (SAMI) </i> &nbsp;
The contribution of the paper is determination of influence of surface change on the snake robot rectilinear locomotion.  ...  Considering that snake robot locomotion is based on friction forces between robot and its environment, the basic friction models are introduced.  ...  = − − −     (6) where: α is angle o f surface slope, t is duration of one phase of cycle and δ is a traveled distance of one snake robot segment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/sami.2013.6480963">doi:10.1109/sami.2013.6480963</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nfchz6vmtjfopi45dfkxb4bbc4">fatcat:nfchz6vmtjfopi45dfkxb4bbc4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170812094833/http://pubs.sciepub.com/ajme/1/7/52/ajme-1-7-52.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bd/49/bd497d6fe863e9531b1f36f9fda99909319737c0.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/sami.2013.6480963"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Investigation of Snake Robot Locomotion Possibilities in a Pipe

Ivan Virgala, Michal Kelemen, Pavol Božek, Zdenko Bobovský, Martin Hagara, Erik Prada, Petr Oščádal, Martin Varga
<span title="2020-06-03">2020</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nzoj5rayr5hutlurimhzyjlory" style="color: black;">Symmetry</a> </i> &nbsp;
The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces.  ...  The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion.  ...  Acknowledgments: The authors would like to thank the Slovak Grant Agency VEGA 1/0389/18 "Research on kinematically redundant mechanisms".  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/sym12060939">doi:10.3390/sym12060939</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4gg6rz7tnveazbpwy6bhdzkvp4">fatcat:4gg6rz7tnveazbpwy6bhdzkvp4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200606012758/https://res.mdpi.com/d_attachment/symmetry/symmetry-12-00939/article_deploy/symmetry-12-00939.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/14/b8/14b833c6fa9956f27286005047744d833eac375b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/sym12060939"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

Daniel Seidel, Milan Hermann, Thomas Gumpert, Florian C. Loeffl, Alin Albu-Schaffer
<span title="">2020</span> <i title="IEEE"> 2020 IEEE Aerospace Conference </i> &nbsp;
The method is experimentally tested on an elastically actuated quadrupedal robot.  ...  While common quadrupedal robots require to carefully plan motions through torque control and force distribution, this paper presents an approach where elastic elements in the drive train function as an  ...  Using wheels allows highly energy-efficient locomotion on planar surfaces while carrying substantial payloads.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/aero47225.2020.9172301">doi:10.1109/aero47225.2020.9172301</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/k3abjyxb7jhofepa2ywazkz2z4">fatcat:k3abjyxb7jhofepa2ywazkz2z4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210427113413/https://elib.dlr.de/139409/1/AEROCONF2020seidel_final_submission.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/46/bf/46bfb3c49443e98ca5b50028040ee3a205a5df1f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/aero47225.2020.9172301"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Modeling and analysis of ciliary micro-hopping locomotion actuated by an eccentric motor in a microgravity

Kenji Nagaoka, Kazuya Yoshida
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2013 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
The results of this study contribute to the design optimization of both the cilia mechanism and the motor control scheme.  ...  Under the proposed system, elastic cilia are attached to the surface of the robot; this arrangement should enable the robot to have better mobility in a microgravity environment.  ...  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan II. MICRO-HOPPING LOCOMOTION A.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696437">doi:10.1109/iros.2013.6696437</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/NagaokaY13.html">dblp:conf/iros/NagaokaY13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/demvxcq56faf5c5yr2kvivpwf4">fatcat:demvxcq56faf5c5yr2kvivpwf4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200318152850/http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_IROS_2013/media/files/1992.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f1/8f/f18f4d1b29c7a58ee31eadcd93368cc54cd8118e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696437"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Soft magnetic microrobot doped with porous silica for stability-enhanced multimodal locomotion in nonideal environment [article]

Shangsong Li, Dong Liu, Yuping Hu, Zhijie Su, Xinai Zhang, Ruirui Guo, Dan Li, Yuan Lu
<span title="2021-11-14">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
However, previous researches mainly focus on new locomotion in a relatively ideal environment, lacking exploration on the ability of magnetic microrobot locomotion to resist external disturbances and proceed  ...  As an emerging field of robotics, magnetic-field-controlled soft microrobot has broad application prospects for its flexibility, locomotion diversity as well as remote controllability.  ...  (b) Comparison of rolling effect on flat surface for different concentrations of porous silica doping. (c) Mechanical analysis of rolling locomotion on a slope.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.07282v1">arXiv:2111.07282v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/uty4ev6oxfdlxifszkckgyixei">fatcat:uty4ev6oxfdlxifszkckgyixei</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20211116020125/https://arxiv.org/ftp/arxiv/papers/2111/2111.07282.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f0/74/f07450f338d68c8733938ab344785f7266bb7333.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.07282v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Paddling based Microrobot for Capsule Endoscopes

Hyunjun Park, Sungjin Park, Euisung Yoon, Byungkyu Kim, Jongoh Park, Sukho Park
<span title="">2007</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rytolcxr5rgw3dx2hhx2tlpo6q" style="color: black;">Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on</a> </i> &nbsp;
Based on the experimental results, we conclude that the proposed locomotive mechanism is not only easy to be used for micro capsule endoscopes but also effective to move inside of intestinal tract.  ...  As a solution of these problems, therefore, a locomotive mechanism of capsule endoscopes has being developed.  ...  ACKNOWLEDGMENT This research has been supported by the Intelligent Microsystem Center (IMC; http://www.microsystem.re.kr), which carries out one of the 21st century's Frontier R&D Projects sponsored by  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2007.363994">doi:10.1109/robot.2007.363994</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/ParkPYKPP07.html">dblp:conf/icra/ParkPYKPP07</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/x2q26jjiijcyllrmjvcxavjguy">fatcat:x2q26jjiijcyllrmjvcxavjguy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808033108/http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_ICRA_2007/data/papers/0785.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/62/05/6205ceaa3e7d4f2c1c45b24f5b25934bb9da7949.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2007.363994"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Shape anisotropy-governed locomotion of surface microrollers on vessel-like microtopographies against physiological flows

Ugur Bozuyuk, Yunus Alapan, Amirreza Aghakhani, Muhammad Yunusa, Metin Sitti
<span title="2021-03-22">2021</span> <i title="Proceedings of the National Academy of Sciences"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nvtuoas5pbdsllkntnhizy4f4q" style="color: black;">Proceedings of the National Academy of Sciences of the United States of America</a> </i> &nbsp;
The findings reported here establish the design principles of surface microrollers for robust locomotion on vessel walls against physiological flows.  ...  Here, we show that microroller shape anisotropy determines the surface locomotion capability of microrollers on vessel-like 3D surface microtopographies against physiological flow conditions.  ...  We used basic sigmoid function to control the slope of the walls, where the parameter c 1 adjusted the slope (Fig. 3A) .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1073/pnas.2022090118">doi:10.1073/pnas.2022090118</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33753497">pmid:33753497</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zcdmwdjhdfbntck2patzsfrmt4">fatcat:zcdmwdjhdfbntck2patzsfrmt4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210802060408/https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/476709/e2022090118.full.pdf;jsessionid=7AE5F067581980C6F61B94FDFECE129C?sequence=3" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f3/97/f3973da0e918d7b4ab0e0501b799e40929e97a23.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1073/pnas.2022090118"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Planetary robotics exploration activities at DLR

Bernd Schäfer, Alexandre Carvalho Leite
<span title="2014-03-22">2014</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vuat3rm7wjbcrp3ovhxjd5fomm" style="color: black;">Computational and Applied Mathematics</a> </i> &nbsp;
Abstract Intelligent mobility, agile manipulability, and increased autonomy are key technologies to guarantee for long-range and efficient surface exploration on Earth's Moon and on planets.  ...  locomotion suspension depending on the operational terrain of the rover to operate.  ...  Acknowledgments Parts of the work on optimization tool development were performed in conjunction with the HGF alliance project 'Planetary Evolution and Life' (HGF-'Helmholtzgemeinschaft der Großforschungsanstalten  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s40314-014-0122-2">doi:10.1007/s40314-014-0122-2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6ffbfzc65naepgbmki6etm3cf4">fatcat:6ffbfzc65naepgbmki6etm3cf4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171121015818/https://core.ac.uk/download/pdf/31010586.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/0d/b7/0db7bd8599408db10b63daeed98db72f56faeab4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s40314-014-0122-2"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

LOCOMOTION CONTROL OF QUADRUPED ROBOTS BASED ON WORKSPACE TRAJECTORY MODULATIONS

Chengju J. Liu, Danwei W. Wang, Qijun J. Chen
<span title="">2012</span> <i title="ACTA Press"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7r4lhfkd7ngbjdxyei65uj6rtu" style="color: black;">International Journal of Robotics and Automation</a> </i> &nbsp;
Acknowledgements The authors would like to express thanks to technicians in the Laboratory of Robotics and Intelligent Systems in Tongji University for their assistance during experiments.  ...  That is an essential condition to realize adaptive locomotion on irregular surfaces.  ...  This method sheds the light on a new direction for adaptive locomotion control of legged robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2316/journal.206.2012.4.206-3560">doi:10.2316/journal.206.2012.4.206-3560</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vfaurkvlcbgudcfyr6jmimcgxi">fatcat:vfaurkvlcbgudcfyr6jmimcgxi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170922031023/https://dr.ntu.edu.sg/bitstream/handle/10220/26361/Locomotion%20control%20of%20quadruped%20robots%20based%20on%20workspace%20trajectory%20modulations.pdf?sequence=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/57/bc/57bc3dfa49585571281481ca9ff10608c6c07a69.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2316/journal.206.2012.4.206-3560"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Study on Roller-Walker - Adaptation of characteristics of the propulsion by a leg trajectory -

G. Endo, S. Hirose
<span title="">2008</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2008 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
Secondly, an asymptotic parameter tuning method is introduced to perform specified velocity on the different surfaces with different friction. The method is evaluated in numerical simulations.  ...  Firstly, the authors demonstrate that Roller-Walker could achieve highspeed propulsion and slope climbing propulsion by simply changing parameters of the leg trajectory on the hardware experiments.  ...  We then accomplish both high-speed locomotion and slope climbing locomotion on hardware experiments by simply modulating these parameters.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2008.4650823">doi:10.1109/iros.2008.4650823</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/EndoH08.html">dblp:conf/iros/EndoH08</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jrojxugxfnc4flbiwijwamss5y">fatcat:jrojxugxfnc4flbiwijwamss5y</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190429052309/http://t2r2.star.titech.ac.jp/rrws/file/CTT100565592/ATD100000413/" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b2/7c/b27c59a90e04bba930a63d2f3020af44808ea807.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2008.4650823"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Summary of the Modern Wheel Slip Controller Principles

Petr Pichlík
<span title="">2019</span> <i title="Czech Technical University in Prague - Central Library"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/mbgngrxvibfzbcmlwbtyms7jve" style="color: black;">Transactions on Electrical Engineering</a> </i> &nbsp;
There have been several slip controllers developed based on different principles with different degree of complexity and efficiency.  ...  The effects are undesirable and must be prevented if it is possible or at least limited by slip controllers.  ...  TE02000103, Center for Intelligent Drives and Advanced Machine Control.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.14311/tee.2019.2.026">doi:10.14311/tee.2019.2.026</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/tsh4zb7lizevplptrnatt2l2va">fatcat:tsh4zb7lizevplptrnatt2l2va</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200321095129/http://www.transoneleng.org/2019/20192c.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9d/83/9d83cd109ca3f8d2adbcca00a43b46ce84d1de72.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.14311/tee.2019.2.026"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>
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