In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-c...

In this paper, we study a heterogeneous robot team composed of self-assembling robots and aerial robots that cooperate with each other to carry out global tasks. We introduce supervised morphogenesis – an approach in which aerial robots exploit their better view of the environment to detect tasks on the ground that require self-assembly, and perform on-board simulations to determine the morphol...

Developing autonomous mobile robot system has been a hot topic in AI area. With recent advances in technology, autonomous robots are attracting more and more attention worldwide, and there are a lot of ongoing research and development activities in both industry and academia. In complex ground environment, obstacles positions are uncertain. Path finding for robots in such environment is very ho...

There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning) require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor in...

This article answers fundamental safety questions for ground robot navigation: Under which circumstances does which control decision make a ground robot safely avoid obstacles? Unsurprisingly, the answer depends on the exact formulation of the safety objective as well as the physical capabilities and limitations of the robot and the obstacles. Because uncertainties about the exact future behavi...

This paper proposes a new mobility system for planetary rover using springs and linear actuators. In the microgravity environment, hopping mobility is a possible choice for enhancing a new mobility of the robot. One method to hop is to press one's own to the ground. The proposed robot cosists of two masses, and can press one's own to the ground using springs. So the rover can hop from the stati...

In this paper, we purpose a new holonomic omni-directional mobile robot that can move on not only flat floors but also uneven environment. A prototype robot can move in omni-direction, run on the uneven floors and slopes, and pass over large steps. The robot has seven universal wheels that have twelve cylindrical free rollers. We adopt a passive suspension system that enable the robot to change...

In this paper we present a technique for visual odometry on the ground plane, based on a single, uncalibrated fixed camera mounted on a mobile robot. The odometric estimate is based on the observation of features (e.g., salient points) on the floor by means of the camera mounted on the mobile robot. The presented odometric technique produces an estimate of the transformation between the ground ...

This paper presents a wall-climbing robot which can stably hold and move on the ground-wall surface. The uses propeller reverse thrust as an adsorption force adapt to surface of several media materials. influence robot’s structural parameters its power system is analyzed by comparing single test prototype test. A analysis performed under two specific situations; when he in transition from groun...

This thesis provides a methodology of sensory system development for a hexapod robot, working toward the development of dynamic behaviors utilizing feedback controllers. We develop an approach to utilizing strain gauges together with a simple data driven phenomenological model that simultaneously delivers information of leg touchdown, leg configuration, and ground reaction force suitable for ro...