The locomotion of quadruped and humanoid robots shares some characteristics with the one of animals and humans: a kinematic tree structure and a free-floating base, switches in the model due to different contact situations and a high number of degrees of freedom consisting of many links and many actuated joints. One main difference is in actuation: while robots commonly are driven by (at most) ...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

This paper studies the effect of flexible linear torso on the dynamics of passive quadruped bounding. A reduced-order passive and conservative model with linear flexible torso and springy legs is introduced. The model features extensive spine deformation during high-speed bounding, resembling those observed in a cheetah. Fixed points corresponding to cyclic bounding motions are found and calcul...

Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...

Robot manipulators, in general, are required to have the same number of actuators as the number of joints to obtain full control. In the case of under-actuated robots, this condition is not satisfied which make the behavior of that class of robots very difficult to be predicted. Under-actuated robots can be a better design choice for robots in space and other industrial applications, their adva...

This paper introduces a general formulation of relational behaviours for cooperative real robots and an example of its implementation using the pass between soccer robots of the Middle-Sized League of RoboCup. The formulation is based on the Joint Commitment Theory and the pass implementation is supported by past work on soccer robots navigation. Results of experiments with real robots under co...

The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler–Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case study of a two-link flexible manipulator with joint elasticity. Controlling such a manipulator is mo...

Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materi...