In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain metamodel, graphical notation definition and source code generation for subsumption architecture – a well-known example of robot control architecture. Our goal is to show th...

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This paper describes the development of a fully autonomous or semi-autonomous hovering platform, capable of vertical lift-off and landing without a launcher, and capable of stationary hovering at one location. The idea to build such a model-sized aerial robot is not new; several other research institutes have been working on aerial robots based on commercially available, gasoline powered radio-...

This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy ...

We present a general framework for modeling a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Method...

High-level robot controllers in realistic domains typically deal with processes which operate concurrently, change the world continuously, and where the execution of actions is event-driven as in “charge the batteries as soon as the voltage level is low”. While non-logicbased robot control languages are well suited to express such scenarios, they fare poorly when it comes to projecting, in a co...

The design of an electrically actuated robot with one articulated leg is presented, as well as simulation results of its control algorithm. The algorithm enables the robot, whose name is OLIE (One Leg Is Enough), to control simultaneously its forward velocity during flight, its hopping height, the placement of its foot on desired footholds, the orientation of its body and its angular momentum, ...

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...