Deformation-Driven Closed-Chain Soft Mobile Robot Aimed for Rolling and Climbing Locomotion

Locomotion of a Two-dimensional Walking-Climbing Robot Using A Closed-Loop Mechanism

We investigate the locomotion of a surface-walking/climbing robot, the Planar Walker, based on a novel planar eight-bar closed-loop mechanism. The robot can produce inchworm-like movements in two orthogonal directions and can rotate about itself. The locomotion mechanism to achieve such motions comprises four two-way linear cylinders forming a deformable quadrilateral and four two-way gripper m...

Biologically Inspired Locomotion Control of a Climbing Robot

Nonholonomic dynamic rolling control of reconfigurable 5R closed kinematic chain robot with passive joints

Abstract We have developed a self-reconfigurable robot which can form a 5R closed kinematic chain, only two of whose joints are actuated. This paper discusses its dynamic rolling. When it rolls, it has one DOF of its absolute orientation besides two DOFs of its shape. We show that the absolute orientation is subject to an acceleration constraint, not a velocity constraint. Therefore, the dynami...

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

A mobile robot with autonomous climbing and descending of stairs

Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stai...