Accounting for wheel–terrain interaction is crucial navigation and traction control of mobile robots in outdoor environments rough terrains. Wheel slip one the surface hazards that needs to be detected mitigate against risk losing robot's controllability or mission failure occurring. The open problems Terramechanics field addressed are (1) need situ wheel-slippage estimation harsh using low-cos...

Although conventional gait pattern control in humanoid robots is typically performed on flat terrains, the roads that people walk every day have bumps and potholes. Therefore, to make more similar humans, movement parameters of these should be modified allow them adapt uneven terrains. In this study, solve problem, reinforcement learning (RL) was used engage self-training automatically adjust t...

Safe navigation in uneven terrains is an important problem robotic research. In this paper we propose a 2.5D system which consists of elevation map building, path planning and local following with obstacle avoidance. For use Model Predictive Path Integral (MPPI) control method. We novel cost-functions for MPPI order to adapt it maps motion through unevenness. evaluate our on multiple synthetic ...

Semantic segmentation in autonomous driving for unstructured environments is challenging due to the presence of uneven terrains, class boundaries, irregular features and strong textures. Current off-road datasets exhibit difficulties like imbalance understanding varying environmental topography. To overcome these issues, we propose a deep learning framework semantic that involves pooled with fi...

-To increase mobility and stability under real conditions and achieve superior performance related to walking robots that can travel on land with a configuration as close to real situations as possible, this paper presents studies and research for the integration of additional functions for the compliant control of HFPC walking robots. Starting from the basic functions of the control system, hy...

Among all the articles of human robots there are very few dedicated to the double support phase. A lot of researches consider this phase as an instantaneous transition between the single support phases for one leg to another in the biped gait. So we decided to focus our work in this direction and study the overactuated system that arises from the sub-actuated free-flyer humanoid with restrictio...

Asian victims of Japanese imperialism have filed lawsuits against the Japanese government and corporations since the 1990s, which became prime sites for redress decades after Japan’s defeat in World War II. As this ethnography demonstrates, this process paradoxically exposes a legal lacuna within this emergent transnational legal space, with plaintiffs effectively caught between the law, instea...