RUBIC: An Untethered Soft Robot With Discrete Path Following
نویسندگان
چکیده
منابع مشابه
A Resilient, Untethered Soft Robot
A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65-meter-long soft ...
متن کاملPath Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملBackward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
متن کاملModeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
Here we present the control, performance and modeling of an untethered electromagnetically actuated magnetic micro-robot. The microrobot, which is composed of neodymium–iron–boron with dimensions 250 m 130 m 10 m, is actuated by a system of six macroscale electromagnets. Periodically varying magnetic fields are used to impose magnetic torques, which induce stick–slip motion in the micro-robot. ...
متن کاملPath Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Frontiers in Robotics and AI
سال: 2019
ISSN: 2296-9144
DOI: 10.3389/frobt.2019.00052