Two bioinspired mobile manipulators with rolling locomotion

Experiments with Desktop Mobile Manipulators

This paper describes our work on Desktop Robotics. The main focus is two robots that locomote and manipulate paper on a desktop. One robot uses wheels for both manipulation and locomotion. The other robot uses wheels for locomotion and a sticky foot to lift and carry pieces of paper. We outline the goals of our work on desktop robotics, describe the design of the robots built so far, present ex...

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots – Modeling and Analysis

Nature provides various alternative locomotion strategies which could be applied to robotic systems. One such strategy is that of jumping, which enables centimeter to millimeter-scaled insects to traverse highly unstructured environments quickly and efficiently. These insects generate the required high magnitude power through specialized structures which store and rapidly release large amounts ...

Rolling Locomotion of Deformable Tensegrity Structure

In this paper, we propose that a deformable robot with a tensegrity structure can crawl and describe its performance in practical experiments and a gait description. We apply Miller index in crystallography to describe the gait of a prototype, and then classify two contact conditions of the prototype. We demonstrate rolling of a six-strut tensegrity to confirm the movement of the prototype from...

Using Manipulability with Nonholonomi Mobile Manipulators

Control of Wheeled Mobile Manipulators with Flexible Suspension Considering Wheels Slip Effects

Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...