7,126 research outputs found
Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step Negotiation
Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining
increasing interest in robotics research as it improves the robots
environmental adaptability, locomotion versatility, and operational
flexibility. Within the terrestrial multiple locomotion robots, the advantage
of hybrid robots stems from their multiple (two or more) locomotion modes,
among which robots can select from depending on the encountering terrain
conditions. However, there are many challenges in improving the autonomy of the
locomotion mode transition between their multiple locomotion modes. This work
proposed a method to realize an autonomous locomotion mode transition of a
track-legged quadruped robot steps negotiation. The autonomy of the
decision-making process was realized by the proposed criterion to comparing
energy performances of the rolling and walking locomotion modes. Two climbing
gaits were proposed to achieve smooth steps negotiation behaviours for energy
evaluation purposes. Simulations showed autonomous locomotion mode transitions
were realized for negotiations of steps with different height. The proposed
method is generic enough to be utilized to other hybrid robots after some
pre-studies of their locomotion energy performances
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
We show dynamic locomotion strategies for wheeled quadrupedal robots, which
combine the advantages of both walking and driving. The developed optimization
framework tightly integrates the additional degrees of freedom introduced by
the wheels. Our approach relies on a zero-moment point based motion
optimization which continuously updates reference trajectories. The reference
motions are tracked by a hierarchical whole-body controller which computes
optimal generalized accelerations and contact forces by solving a sequence of
prioritized tasks including the nonholonomic rolling constraints. Our approach
has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled
including the non-steerable wheels attached to its legs. We conducted
experiments on flat and inclined terrains as well as over steps, whereby we
show that integrating the wheels into the motion control and planning framework
results in intuitive motion trajectories, which enable more robust and dynamic
locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4
m/s and a reduction of the cost of transport by 83 % we prove the superiority
of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter
The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots
This review considers a problem in the development of mobile robot adhesion
methods with vertical surfaces and the appropriate locomotion mechanism design.
The evolution of adhesion methods for wall-climbing robots (based on friction,
magnetic forces, air pressure, electrostatic adhesion, molecular forces,
rheological properties of fluids and their combinations) and their locomotion
principles (wheeled, tracked, walking, sliding framed and hybrid) is studied.
Wall-climbing robots are classified according to the applications, adhesion
methods and locomotion mechanisms. The advantages and disadvantages of various
adhesion methods and locomotion mechanisms are analyzed in terms of mobility,
noiselessness, autonomy and energy efficiency. Focus is placed on the physical
and technical aspects of the adhesion methods and the possibility of combining
adhesion and locomotion methods
Role of smartphone devices in motivation to study in the Covid-19 Pandemic
Aims The sudden COVID-19 pandemic experienced globally has caused many schools and
institutions of higher learning to resort to fully online teaching and learning throughout the
world. Since online teaching is essentially a student-centered learning approach, studentsâ
motivational level plays an important role in making teaching protocols effective. This study
aimed to know the level of motivation to study using a smartphone in the COVID-19 pandemic.
Instrument & Methods This descriptive study was carried out in 2020 on 75 Indonesian
Academy of Administrative Management College students who have smartphones. These
students were selected by random sampling method. Data were collected using a researcherïżœmade questionnaire and analyzed by SPSS 17 software using Pearson correlation coefficient
and simple linear regression test.
Findings There was a positive and significant correlation between the mean score of
smartphone usage and the mean score of study motivation (r=0.84; p=0.0001). The effect of
smartphone uses on the study motivation in the Covid-19 pandemic was 61.7% (R2=0.617).
Conclusion With the increasing use of smartphones, the motivation to learn during pandemic
COVID-19 also increased
Review article: locomotion systems for ground mobile robots in unstructured environments
Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled - W, tracked - T and legged - L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined
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