This project aims to study and provide a method of postural stability control for lamprey and salamander robots during swimming. The robot swimming gait is induced by a central pattern generator (CPG) distributed along the spinal cord. Up to now the robot stability was fixed using surfacing lightweight materials. This research has prospectively explored the possibilities to mimic the vestibular...

This paper presents a new incremental approach for robot navigation using associative memory. We defined the association as node→action→node where node is the robot position and action is the action of a robot (i.e., orientation, direction). These associations are used for path planning by retrieving a sequence of path fragments (in form of (node→action→node) → (node→action→node) →· · ·) starti...

We consider the problem of coverage path planning in an initially unknown or partially known planar environment using multiple robots. Previously, Voronoi partitioning has been proposed as a suitable technique for coverage path planning where the free space in the environment is partitioned into non-overlapping regions called Voronoi cells based on the initial positions of the robots, and one r...

We present an experimentation environment for the exploration of rich motor skills on a quadruped robot. We introduce a simulation platform around the (open) quadruped robot ’Oncilla’ that is integrated with a domain-specific language (DSL) tool-chain for modeling and execution of reproducible movement experiments. The Webots-based simulator, shown in a Screenshot in Figure 1, features an open ...

Is it more eecient to use one or several robots? Will the performance of a group of robots working in a collaborative task be enhanced if the robots can communicate with one another? What learning abilities should the robot(s) be provided with for adapting to a continuously changing environment? We address these three issues in a speciic task, namely learning the topography of an environment wh...

This article is about issues that happen during moving a large number of similar goods are located on certain site and concentrating them in one place (warehouse). These include imperfect conditions facilities, unsatisfactory state transport service, exhausted rolling stocks, low quality or overloading routs, remote sites goods’ reception delivery points, poor managing moving, unexpected outcom...

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...