This paper addresses the issue of developing a motion planning algorithm for a general class of modular mobile robots. A modular mobile robot is essentially a reconfigurable robot system in which locomotive modules such as legs, wheels, propellers, etc. can be attached at various locations on the body. The equations of motion for the robot are developed in terms of a set of generalized inputs r...

| We describe in this paper a new motion planning approach for a non-holonomic mobile robot moving on a uneven terrain and subject to strong physical interaction constraints. The novelty of this method is that it deals with the dynamics of the robot and its physical interactions with the terrain at the planning time, together with the kinematic and the geometric constraints of the task. The pla...

|When a mobile robot executes a given task in human-robot co-existence environment, it is necessary for the robot to perform robust motions and to have abilities to deal with unforeseen situations. Therefore we aim to realize an intelligent and robust motion for a dual-arm mobile manipulator. To carry out a research of intelligent motion, we set a concrete task as \grasping a book and returning...

The purpose of this research is to generate a stable motion for a hydraulic actuated biped robot. Since the application effect of most dynamic biped robot locomotion theories is not very well and the static walk pattern is hard to realize on human-sized hydraulic actuated biped robot because of the small size of foot compared with body height. In this study, we propose a trajectory planning met...