Article
Automation & Control Systems
Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang
Summary: This article proposes a free gait generation algorithm that only takes the robot state as input. By introducing the feasible impulse polytope, which takes into account both linear and angular momentum impulses acting on the body, a leg capability metric related to the effect of take-off and touch-down on the body motion is formulated. Gait sequence, take-off timing, and touch-down location can be automatically adjusted online based on a metric threshold.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Zhengyang Li, Zhenjing Li, Lap Mou Tam, Qingsong Xu
Summary: This article introduces a versatile quadruped climbing robot (QCR) with multidegree-of-freedom legs and adhesive vacuum suckers. The robot is capable of climbing, omnidirectional locomotion, large obstacle overcoming, and manipulation. The kinematic and quasi-static climbing models have been derived and the robot's performance has been verified through experiments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Lingqi Tang, Yao Li, Bing Li
Summary: This article introduces a miniature omnidirectional jumping robot called Moobot, which has the capability of high-accuracy trajectory control. The robot is based on a four-bar origami structure and shape memory alloys, and it utilizes strain gauges and an inertial measurement unit to control jumping force and takeoff angle. The robot also features a reliable jumping mechanism and a novel supporting leg design to improve jumping stability and trajectory accuracy. The untethered prototype of the robot has a jumping distance error and standard deviation both less than 1.5 cm, representing a significant improvement compared to previous insect-scale jumping robots. Additionally, the robot is capable of omnidirectional jumping experiments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Ping Sun, Rui Shan, Shuoyu Wang
Summary: A rehabilitation gait training robot has been developed, which can directly switch between passive and active training during walking, improving the intelligence and security of the robot and enhancing the effectiveness of rehabilitation training.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Computer Science, Information Systems
Junya Nakamura, Yusuke Matsuda, Tomohiro Amemiya, Yasushi Ikei, Michiteru Kitazaki
Summary: Walking is a human need, and virtual reality can provide opportunities for virtual walking or travel. This study found that foot vibrations and scene congruency can enhance virtual walking sensations and ground material perception. Congruent vibrations were more effective than incongruent vibrations for walking-related sensations and telepresence.
Article
Robotics
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-ha Kim, Hae-won Park, Hyun Myung
Summary: We propose a novel state estimator for legged robots, named STEP, achieved through a novel preintegrated foot velocity factor. The velocity of the end effector is made observable by exploiting the body speed obtained from a stereo camera, without assuming non-slip condition. Our approach eliminates the need for a contact detection step and has been validated in simulations and real-world experiments with uneven or slippery terrains.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Biotechnology & Applied Microbiology
Jiayu Ding, Talia Y. Moore, Zhenyu Gan
Summary: Researchers developed a simulated jerboa model to investigate the mechanisms of gait transitions in non-cursorial animals. Results showed that coupled changes and uncoupled models of the neutral leg swing angle are the two primary mechanisms that influence gait transitions.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Engineering, Multidisciplinary
Henry Chang, Justin Chang, Glenna Clifton, Nick Gravish
Summary: This study investigated a passive method for overcoming swing-collisions in legged locomotion by implementing virtual compliance control in a robot leg. The virtual compliance methods improved the successful negotiation of step obstacles by over 70%, highlighting the importance of limb compliance in enhancing walking performance in naturalistic environments.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Automation & Control Systems
Gugyeong Sung, Kyoungchul Kong, Jungsu Choi
Summary: Unlike able-bodied humans, people with paraplegia are unable to control their center of gravity. Powered exoskeletons, although they have been used to assist people with paraplegia to walk similarly to able-bodied people, may not be the best option because they are limited in their degrees of freedom and cannot help control the center of gravity. Therefore, research is needed to develop a suitable gait pattern for people with paraplegia wearing powered exoskeletons.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Engineering, Multidisciplinary
Max Austin, Ashley Chase, Brian Van Stratum, Jonathan E. Clark
Summary: This study investigates multi-modal limb locomotion and develops a limb aquatic-scansorial multi-modal robot.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Robotics
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Summary: Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of system dynamics. Optimizing these motions and interactions in the presence of imperfect perception is challenging. This study presents a perception, planning, and control pipeline that optimizes robot motions in real time by using a sequence of constraints, precomputed components, and a combination of optimization techniques. The proposed method is validated in simulation and on a quadruped platform, achieving state-of-the-art dynamic climbing.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Joseph Humphreys, Jun Li, Yuhui Wan, Haibo Gao, Chengxu Zhou
Summary: Developing animal-inspired gaits for quadruped robots has become popular, but methods for achieving gait transitions have received limited attention. This study presents a bio-inspired gait transition method based on the Froude number, allowing stable transitions between gaits. Simulations and hardware experiments were conducted to validate the effectiveness and generality of the proposed method.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Chemistry, Analytical
Ylenia Nistico, Shamel Fahmi, Lucia Pallottino, Claudio Semini, Geoff Fink
Summary: This paper addresses the problem of slip detection for legged robots in unstructured terrains. The proposed approach is independent of the gait type and the estimation of robot's position and velocity, and it can detect multiple foot slippage simultaneously, reducing the issue of drift.
Article
Robotics
Nelson Rosa, Kevin M. Lynch
Summary: This article introduces a topological method for generating families of walking gaits for underactuated biped walkers, utilizing implicitly defined feasible periodic gaits within a state-time-control space. Equilibria are used as reliable templates for constructing gait families on several 2-D and 3-D biped walkers.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Robotics
Yisoo Lee, Hosang Lee, Jinoh Lee, Jaeheung Park
Summary: The study develops an event-based finite-state machine (E-FSM) to enhance reactivity of biped robots to unforeseen disturbances for robust walking. The proposed control method ensures stable locomotion under external disturbances, as validated through experiments.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Computer Science, Artificial Intelligence
Emrah Benli, Yuichi Motai, John Rogers
IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
(2019)
Article
Engineering, Electrical & Electronic
Emrah Benli, Jonas Rahlf, Yuichi Motai
IEEE SENSORS JOURNAL
(2018)
Article
Engineering, Electrical & Electronic
David L. Stone, Guarav Shah, Yuichi Motai, Alex J. Aved
IEEE JOURNAL OF SELECTED TOPICS IN APPLIED EARTH OBSERVATIONS AND REMOTE SENSING
(2019)
Article
Engineering, Electrical & Electronic
David L. Stone, Guarav Shah, Yuichi Motai
IEEE SENSORS JOURNAL
(2019)
Article
Geochemistry & Geophysics
Bin Wang, Yuichi Motai, Lili Dong, Wenhai Xu
IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING
(2019)
Article
Automation & Control Systems
Emrah Benli, Richard Lee Spidalieri, Yuichi Motai
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2019)
Article
Automation & Control Systems
Ammar O. Hoori, Ahmad Al Kazzaz, Rameez Khimani, Yuichi Motai, Alex J. Aved
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2020)
Article
Geochemistry & Geophysics
David L. Stone, Sumved Ravi, Emrah Benli, Yuichi Motai
Summary: This study investigates the application of deep learning in the fusion of omnidirectional infrared and visual sensors to enhance the intelligent perception of autonomous robotic systems. By introducing novel fusion methods, deep learning can better handle the extraction of vegetation materials, reduce false detection rates, and demonstrate efficiency in experiments.
IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING
(2021)
Article
Computer Science, Artificial Intelligence
Bin Wang, Emrah Benli, Yuichi Motai, Lili Dong, Wenhai Xu
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2020)
Article
Engineering, Biomedical
Corey Sutphin, Eric Olson, Yuichi Motai, Suk Jin Lee, Jae G. Kim, Kazuaki Takabe
IEEE JOURNAL OF TRANSLATIONAL ENGINEERING IN HEALTH AND MEDICINE
(2019)