Planetary rover should be designed so that it can travel on uneven terrains robustly under several limitations such as size, weight, costs, etc. However, it is difficult to get precise or whole terrain information beforehand to check the performance of the designed rover. In this paper, we propose a simulation model of uneven terrains based on fractional Brownian motions (fBm’s) for evaluating ...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Application of wheeled mobile robots have gradually progressed from the confines of structured indoor environments to rough outdoor terrains. Material transport and exploration are some of the few areas where wheeled robots are required to navigate over uneven terrains. Stable and efficient navigation of wheeled robots over uneven terrains require a framework which can correctly ascertain the s...

This paper addresses real-time navigation for crowds moving on multilayered and uneven terrains. The objective is to animate thousands of characters in real-time on large-scale environments without taking care of motion details: a common goal being given to a homogeneous crowd, the proposed method automatically breaks the homogeneity of the crowd by spreading characters on various routes reachi...

Most path planners for ground mobile robots for traversing uneven terrains use single probabilistic measures that characterize the terrains alone considering at most the robot dimension to search for optimal paths. Though these measures can approximately give a sense of the terrain ruggedness or the traversal difficulty, they overlook the details on the interaction between the robot body and th...

The issue of economic globalization and global economic change has been a subject of immense academic research in the past two decades. The Janus face of economic globalization, however, continues to obfuscate our understanding of its complex processes and alleged geographical outcomes. In this paper, I aim to re-present the indispensable role of geography in conceptualizing economic globalizat...

Capturability analysis of the linear inverted pendulum model (LIPM) enabled walking over even terrains based on the capture point. We generalize this analysis to the inverted pendulum model (IPM) and show how it enables 3D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for a real-time control loop. We imple...

This paper presents a simulation framework for evolution on uneven terrains for a wheeled mobile robot such as a synchronous drive robot. The framework lends itself as a tool capable of solving various problems, such as forward kinematic based evolution, inverse kinematic based evolution, path planning and trajectory tracking. This framework becomes particularly useful when we understand that t...

Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially large, uneven terrains. Physics-law-based models work uniform, flat surfaces but do not generalize well to these Furthermore, slopes make the at every location directional and add complexity of data collection prediction. In this paper, we addres...