Mobile robots have been adopted to repair failed wireless sensor network systems for node damage, battery exhaustion, or obstacles. But most of the robots use wheeled locomotion manner, which does not work well or even fails when confronted with obstacles in uneven terrains. To solve this problem, this paper presents the design of a jumping robot to serve as a robotic node for wireless sensor n...

This paper discusses the development of an optimal wheel torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and min...

This paper addresses the design of a six legged robot for planetary exploration. The robot is specifically designed for uneven terrains and is biologically inspired on different levels: mechanically as well as in control. A novel structure is developed basing on a (careful) emulation of the cockroach, whose extraordinary agility and speed are principally due to its self-stabilizing posture and ...

It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation...

The aim of this paper is to present a novel monotone upstream scheme for conservation law (MUSCL) on unstructured grids. The novel edge-based MUSCL scheme is devised to construct the required values at the midpoint of cell edges in a more straightforward and effective way compared to other conventional approaches, by making better use of the geometrical property of the triangular grids. The sch...

ISSN: 1465-0045 (Print) 1557-3028 (Online) Journal homepage: http://www.tandfonline.com/loi/fgeo20 Transformative Terrains: Counter Hegemonic Tactics of Dissent in Israel Tali Hatuka To cite this article: Tali Hatuka (2012) Transformative Terrains: Counter Hegemonic Tactics of Dissent in Israel, Geopolitics, 17:4, 926-951, DOI: 10.1080/14650045.2012.659298 To link to this article: http://dx.doi...

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses an online whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. Over such variable translation, we can plan our desired foot trajectories in Cartesian space between starting and ending positions of...

We present an algorithm for planning goal-directed footstep navigation strategies for biped robots through obstacle-filled environments and uneven ground. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles are available. Given a height map of the terrain and a discrete set of possible footste...