Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. Increasing the operation function of the robot is one of the hottest topics in this field. A novel six wheel-legged robot is designed in the form of leg structure, body structure and the combination between wheels and legs. The DOF of single leg and multi-legged close...

When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing on yaw torque compensation. However, the issue of humanoid robot motion design that can make the movements of the rob...

This paper presents a method for generating smooth, efficiently-executable trajectories for robots under contact constraints, such as those encountered in legged locomotion and object manipulation. It consists of two parts. The first is an efficient, robust method for constructing C1 interpolating paths between configuration/velocity states on implicit manifolds. The second is a robust time-sca...

A nonlinear feedback path controller for a differential drive mobile robot is presented in this paper. First, a kinematic model in error coordinates expressed in a moving reference frame partially linked to the robot is developed. The control law is designed using backstepping method yielding exponential stability of the closed-loop system. Stability analysis is performed via Lyapunov stability...

Two‐wheeled mobile robots (TWMRs) have a capability of avoiding the tip‐over problem on inclined terrain by adjusting the centre of mass position of the robot body. The effects of terrain inclination on the robot performance are studied to exploit this capability. Prior to the real‐time implementation of position control, an estimation of the stability region ...

This paper focuses on motion control problems of an omnidirectional robot based on the Nonlinear Model Predictive Control (NMPC) method. Although NMPC has been studied in many mobile robots applications due to the advantages of taking the robot constraints into account and increasing the robot performance with future information, the high computational requirement makes NMPC difficult to be uti...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

This paper presents a method for building a foothold selection module as well as methods for the stability check for a multi-legged walking robot. The foothold selection decision maker is shaped automatically, without expert knowledge. The robot learns how to select appropriate footholds by walking on rough terrain or by testing ground primitives. The gathered knowledge is then used to find a r...