Relevant bibliographies by topics / Legged robotics control soft robotics robotics

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Legged robotics control soft robotics robotics'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Legged robotics control soft robotics robotics.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "Legged robotics control soft robotics robotics"

1

Noritsugu, Toshiro. "Special Issue on Assistive Device Technologies." Journal of Robotics and Mechatronics 11, no. 4 (August 20, 1999): 237. http://dx.doi.org/10.20965/jrm.1999.p0237.

Full text
Abstract:
Mechatronics is one of the most powerful technologies to overcome various industrial and social problems arising in the 21st century, for example, realization of the recycle manufacturing system, global consideration on the environment, development of human-oriented technology. The 3rd International Conference on Advanced Mechatronics (ICAM’98)-Innovative Mechatronics for the 21st Century hass been held in Okayama August 3-6, 1998, following the 1st and 2nd held in Tokyo in 1988 and 1993, sponsored by the Japan Society of Mechanical Engineers. The purpose of the conference is to promote the creation of new technologies and industries such as advanced robotics and human-oriented technology for the coming 21st century. Two plenary talks and 35 technical sessions including 11 specially organized sessions were opened. In technical sessions, a total of 149 papers was presented, of which 61 papers were in organized sessions and 88 papers in general sessions. Some 47 papers came from 17 countries abroad and 102 papers from Japan. A number of registered participants excluding invited guests was 40 from other countries and 163 from Japan. After the technical program, the Advanced Robotics and Mechatronics symposium was held for tutorial reviews of future robotics and mechatronics, mainly focusing on ""human collaboration"" technology. More than 100 persons attended the symposium. Organized sessions included Analysis and Control of Robot Manipulators, Modeling and Control of Nonholonomic Underactuated Systems, Human Perspective Characteristics and Virtual Reality, Robotic Hand Design Grasping and Dexterous Manipulation, Healthcare Robotics, Advanced Fluid Power Control Technology, Advanced Robot Kinematics, Human Directed Robotics, Computer Support for Mechatronics System Design, Robotic Control, and Motion Control of Special Motors. Robotics was a main subject, but fluid power technology, fundamental motion control technology, and so on were also discussed. “Human collaboration” technology dealing with interaction between humans and robots attracted great attention from many participants. General sessions included Manufacturing, Vision, Micro Machine, Electric Actuator, Human-Robot Interface, Processing Technology, Fluid Actuator, Legged Locomotion, Control Strategy, Soft-Computing, Vehicle, Automation for Agriculture, Robot Force Control, Vibration, and Robot Application. Many studies have been presented over comprehensive subjects. This special issue has been organized by editing the papers presented at ICAM’98 for widely distributing the significant results of the conference. I would like to thank the authors in this special issue who have contributed their updated papers. Also, I would like to thank to Prof. Makoto Kaneko (Hiroshima University), whose work has been indispensable in organizing this special issue.
APA, Harvard, Vancouver, ISO, and other styles
2

Bruzzone, L., and G. Quaglia. "Review article: locomotion systems for ground mobile robots in unstructured environments." Mechanical Sciences 3, no. 2 (July 12, 2012): 49–62. http://dx.doi.org/10.5194/ms-3-49-2012.

Full text
Abstract:
Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.
APA, Harvard, Vancouver, ISO, and other styles
3

Takaiwa, Masahiro, Toshiro Noritsugu, Hideyuki Tsukagoshi, Kazuhisa Ito, and Yutaka Tanaka. "Special Issue on Fluid Powered System and its Application." Journal of Robotics and Mechatronics 32, no. 5 (October 20, 2020): 853. http://dx.doi.org/10.20965/jrm.2020.p0853.

Full text
Abstract:
It is well known that fluid-powered systems are used practically in almost all industrial fields, including construction, manufacturing, transportation, among others. Nowadays, the rapid growth in the development of the mechanical elements in fluid-powered systems, such as control valves, actuators, and sensors, and the rapid growth in control strategies have given rise to pioneering in some novel application fields in ways that were thought to be impossible a decade ago. High-precision positioning control using the compressible fluid of pneumatic driving systems and multi-legged robots equipped with standalone hydraulic components are simple examples. Moreover, soft robotics based on fluid-powered technologies has attracted attention not only in academia but also in human support fields, which will become more important as Japan’s society ages. This special issue on “Fluid Powered System and its Application” includes one review paper and 22 other interesting papers related to the state of the art in the development of mechanical elements, total drive systems, motion control theory, and concrete applications of fluid-powered systems. We thank all of the authors and reviewers of the papers and hope this special issue helps readers to develop fluid powered systems that will contribute to developments in the academia and industry.
APA, Harvard, Vancouver, ISO, and other styles
4

Albu-Schaffer, Alin, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimbock, Sebastian Wolf, and Gerd Hirzinger. "Soft robotics." IEEE Robotics & Automation Magazine 15, no. 3 (September 2008): 20–30. http://dx.doi.org/10.1109/mra.2008.927979.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Sayyad, Ajij, B. Seth, and P. Seshu. "Single-legged hopping robotics research—A review." Robotica 25, no. 5 (September 2007): 587–613. http://dx.doi.org/10.1017/s0263574707003487.

Full text
Abstract:
SUMMARYInspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multilegged robots, single-legged robots have only one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion has to be dynamically stabilized and presents challenging control problems. A large fraction of studies on legged robots has focused on modeling and control of single-legged hopping machines. In this paper, we present a comprehensive review of developments in the field of single-legged hopping robots. We have attempted to cover development of prototype models as well as theoretical models of such hopping systems.
APA, Harvard, Vancouver, ISO, and other styles
6

Rossi, Dino, Zoltán Nagy, and Arno Schlueter. "Soft Robotics for Architects: Integrating Soft Robotics Education in an Architectural Context." Soft Robotics 1, no. 2 (June 2014): 147–53. http://dx.doi.org/10.1089/soro.2014.0006.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

ALICI, Gursel. "Softer is Harder: What Differentiates Soft Robotics from Hard Robotics?" MRS Advances 3, no. 28 (2018): 1557–68. http://dx.doi.org/10.1557/adv.2018.159.

Full text
Abstract:
ABSTRACTThis paper reports on what differentiates the field of soft (i.e. soft-bodied) robotics from the conventional hard (i.e. rigid-bodied) robotics. The main difference centres on seamlessly combining the actuation, sensing, motion transmission and conversion mechanism elements, electronics and power source into a continuum body that ideally holds the properties of morphological computation and programmable compliance (i.e. softness). Another difference is about the materials they are made of. While the hard robots are made of rigid materials such as metals and hard plastics with a bulk elastic modulus of as low as 1 GPa, the monolithic soft robots should be fabricated from soft and hard materials or from a strategic combination of them with a maximum elasticity modulus of 1 GPa. Soft smart materials with programmable mechanical, electrical and rheological properties, and conformable to additive manufacturing based on 3D printing are essential to realise soft robots. Selecting the actuation concept and its power source, which is the first and most important step in establishing a robot, determines the size, weight, performance of the soft robot, the type of sensors and their location, control algorithm, power requirement and its associated flexible and stretchable electronics. This paper outlines how crucial the soft materials are in realising the actuation concept, which can be inspired from animal and plant movements.
APA, Harvard, Vancouver, ISO, and other styles
8

Tse, Zion Tsz Ho, Yue Chen, Sierra Hovet, Hongliang Ren, Kevin Cleary, Sheng Xu, Bradford Wood, and Reza Monfaredi. "Soft Robotics in Medical Applications." Journal of Medical Robotics Research 03, no. 03n04 (September 2018): 1841006. http://dx.doi.org/10.1142/s2424905x18410064.

Full text
Abstract:
Soft robotics are robotic systems made of materials that are similar in softness to human soft tissues. Recent medical soft robot designs, including rehabilitation, surgical, and diagnostic soft robots, are categorized by application and reviewed for functionality. Each design is analyzed for engineering characteristics and clinical significance. Current technical challenges in soft robotics fabrication, sensor integration, and control are discussed. Future directions including portable and robust actuation power sources, clinical adoptability, and clinical regulatory issues are summarized.
APA, Harvard, Vancouver, ISO, and other styles
9

Hawkes, Elliot W., Carmel Majidi, and Michael T. Tolley. "Hard questions for soft robotics." Science Robotics 6, no. 53 (April 28, 2021): eabg6049. http://dx.doi.org/10.1126/scirobotics.abg6049.

Full text
Abstract:
The establishment of a new academic field is often characterized by a phase of rapid growth, as seen over the last decade in the field of soft robotics. However, such growth can be followed by an equally rapid decline if concerted efforts are not made by the community. Here, we argue that for soft robotics to take root and have impact in the next decade, we must move beyond “soft for soft’s sake” and ensure that each study makes a meaningful contribution to the field and, ideally, to robotics and engineering more broadly. We present a three-tiered categorization to help researchers and reviewers evaluate work and guide studies toward higher levels of contribution. We ground this categorization with historical examples of soft solutions outside of robotics that were transformative. We believe that the proposed self-reflection is essential if soft robotics is to be an impactful field in the next decade, advancing robotics and engineering both within and beyond academia and creating soft solutions that are quantitatively superior to the current state of the art—soft, rigid, or otherwise.
APA, Harvard, Vancouver, ISO, and other styles
10

Fitzgerald, Seth G., Gary W. Delaney, and David Howard. "A Review of Jamming Actuation in Soft Robotics." Actuators 9, no. 4 (October 15, 2020): 104. http://dx.doi.org/10.3390/act9040104.

Full text
Abstract:
Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be developed that can achieve high stiffness variation with minimal volume variation. Numerous applications have been reported, including deep-sea sampling, industrial gripping, and use as paws for legged locomotion. This review explores the state-of-the-art for the three classes of jamming actuator: granular, layer and fibre jamming. We highlight the strengths and weaknesses of these soft robotic systems and propose opportunities for further development. We describe a number of trends, promising avenues for innovative research, and several technology gaps that could push the field forwards if addressed, including the lack of standardization for evaluating the performance of jamming systems. We conclude with perspectives for future studies in soft jamming robotics research, particularly elucidating how emerging technologies, including multi-material 3D printing, can enable the design and creation of increasingly diverse and high-performance soft robotic mechanisms for a myriad of new application areas.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "Legged robotics control soft robotics robotics"

1

Ozel, Selim. "Utilizing Compliance To Address Modern Challenges in Robotics." Digital WPI, 2018. https://digitalcommons.wpi.edu/etd-dissertations/494.

Full text
Abstract:
Mechanical compliance will be an essential component for agile robots as they begin to leave the laboratory settings and join our world. The most crucial finding of this dissertation is showing how lessons learned from soft robotics can be adapted into traditional robotics to introduce compliance. Therefore, it presents practical knowledge on how to build soft bodied sensor and actuation modules: first example being soft-bodied curvature sensors. These sensors contain both standard electronic components soldered on flexible PCBs and hyperelastic materials that cover the electronics. They are built by curing multi-material composites inside hyper elastic materials. Then it shows, via precise sensing by using magnets and Hall-effect sensors, how closed-loop control of soft actuation modules can be achieved via proprioceptive feedback. Once curvature sensing idea is verified, the dissertation describes how the same sensing methodology, along with the same multi-material manufacturing technique can be utilized to construct soft bodied tri-axial force sensors. It shows experimentally that these sensors can be used by traditional robotic grippers to increase grasping quality. At this point, I observe that compliance is an important property that robots may utilize for different types of motions. One example being Raibert's 2D hopper mechanism. It uses its leg-spring to store energy while on the ground and release this energy before jumping. I observe that via soft material design, it would be possible to embed compliance directly into the linkage design itself. So I go over the design details of an extremely lightweight compliant five-bar mechanism design that can store energy when compressed via soft ligaments embedded in its joints. I experimentally show that the compliant leg design offers increased efficiency compared to a rigid counterpart. I also utilize the previously mentioned soft bodied force sensors for rapid contact detection (~5-10 Hz) in the hopper test platform. In the end, this thesis connects soft robotics with the traditional body of robotic knowledge in two aspects: a) I show that manufacturing techniques we use for soft bodied sensor/actuator designs can be utilized for creating soft ligaments that add strength and compliance to robot joints; and b) I demonstrate that soft bodied force sensing techniques can be used reliably for robotic contact detection.
APA, Harvard, Vancouver, ISO, and other styles
2

Chen, Mingwu. "Motion planning and control of mobile manipulators using soft computing techniques." Thesis, University of Sheffield, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266128.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Rone, Jr William Stanley. "Hyperredundant Dynamic Robotic Tails for Stabilizing and Maneuvering Control of Legged Robots." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/82350.

Full text
Abstract:
High-performing legged robots require complex spatial leg designs and controllers to simultaneously implement propulsion, maneuvering and stabilization behaviors. Looking to nature, tails assist a variety of animals with these functionalities separate from the animals' legs. However, prior research into robotic tails primarily focuses on single-mass pendulums driven in a single plane of motion and designed to perform a specific task. In order to justify including a robotic tail on-board a legged robot, the tail should be capable of performing multiple functionalities in the robot's yaw, pitch and roll directions. The aim of this research is to study bioinspired articulated spatial robotic tails capable of implementing maneuvering and stabilization behaviors in quadrupedal and bipedal legged robots. To this end, two novel serpentine tails designs are presented and integrated into prototypes to test their maneuvering and stabilizing capabilities. Dynamic models for these two tail designs are formulated, along with the dynamic model of a previously considered continuum robot, to predict the tails' motion and the loading they will apply on their legged robots. To implement the desired behaviors, outer- and inner-loop controllers are formulated for the serpentine tails: the outer-loop controllers generate the desired tail trajectory to maneuver or stabilize the legged robot, and the inner-loop controllers calculate control inputs for the tail that implement the desired tail trajectory using feedback linearization. Maneuvering and stabilizing case studies are generated to demonstrate the tails' ability to: (1) generate yaw angle turning in both a quadruped and a biped, (2) improve the quadruped's ability to reject an externally applied roll moment disturbance that would otherwise destabilize it, and (3) counteract the biped's roll angle instability when it lifts one of its legs (for example, during its gait cycle). Tail simulations and experimental results are used to implement these case studies in conjunction with multi-body dynamic simulations of the quadrupedal and bipedal legged platforms. Results successfully demonstrate the tails' ability to maneuver and stabilize legged robots, and provide a firm foundation for future work implementing a tailed-legged robot.
Ph. D.
APA, Harvard, Vancouver, ISO, and other styles
4

Rone, William Stanley Jr. "Hyperredundant Dynamic Robotic Tails for Stabilizing and Maneuvering Control of Legged Robots." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/82350.

Full text
Abstract:
High-performing legged robots require complex spatial leg designs and controllers to simultaneously implement propulsion, maneuvering and stabilization behaviors. Looking to nature, tails assist a variety of animals with these functionalities separate from the animals' legs. However, prior research into robotic tails primarily focuses on single-mass pendulums driven in a single plane of motion and designed to perform a specific task. In order to justify including a robotic tail on-board a legged robot, the tail should be capable of performing multiple functionalities in the robot's yaw, pitch and roll directions. The aim of this research is to study bioinspired articulated spatial robotic tails capable of implementing maneuvering and stabilization behaviors in quadrupedal and bipedal legged robots. To this end, two novel serpentine tails designs are presented and integrated into prototypes to test their maneuvering and stabilizing capabilities. Dynamic models for these two tail designs are formulated, along with the dynamic model of a previously considered continuum robot, to predict the tails' motion and the loading they will apply on their legged robots. To implement the desired behaviors, outer- and inner-loop controllers are formulated for the serpentine tails: the outer-loop controllers generate the desired tail trajectory to maneuver or stabilize the legged robot, and the inner-loop controllers calculate control inputs for the tail that implement the desired tail trajectory using feedback linearization. Maneuvering and stabilizing case studies are generated to demonstrate the tails' ability to: (1) generate yaw angle turning in both a quadruped and a biped, (2) improve the quadruped's ability to reject an externally applied roll moment disturbance that would otherwise destabilize it, and (3) counteract the biped's roll angle instability when it lifts one of its legs (for example, during its gait cycle). Tail simulations and experimental results are used to implement these case studies in conjunction with multi-body dynamic simulations of the quadrupedal and bipedal legged platforms. Results successfully demonstrate the tails' ability to maneuver and stabilize legged robots, and provide a firm foundation for future work implementing a tailed-legged robot.
Ph. D.
APA, Harvard, Vancouver, ISO, and other styles
5

Eaton, Caitrin Elizabeth. "Reducing the Control Burden of Legged Robotic Locomotion through Biomimetic Consonance in Mechanical Design and Control." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5680.

Full text
Abstract:
Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity, any wheeled system is confined to relatively flat terrain. Wheels will also only ever be useful for rolling, while limbs observed in nature are highly multimodal. The robust locomotive utility of legs is evidenced by the many animals that walk, run, jump, swim, and climb in a world full of challenging terrain. On the other hand, legs with multiple degrees of freedom (DoF) require much more complex control and precise sensing than wheels. Legged robotic systems are easily hampered by sensor noise and bulky control loops that prohibit the high-speed adaptation to external perturbations necessary for dynamic stability in real time. Low sensor bandwidth can limit the system’s reaction time to external perturbations. It is also often necessary to filter sensor data, which introduces significant delays in the control loop. In addition, state estimation is often relied upon in order to compute active stabilizing responses. State estimation requires accurate sensor data, often involving filtering, and can involve additional nontrivial computation such as the pseudo-inversion of fullbody Jacobians. This perception portion of the control burden is all incurred before a response can be planned and executed. These delays can prevent a system from executing a corrective response before instability leads to failure. The present work presents an approach to legged system design and control that reduces both the perception and planning aspects of the online control burden. A commonly accepted design goal in robotics is to accomplish a task with the fewest possible DoF in order to tighten the control loop and avoid the curse of dimensionality. However, animals control many DoF in a manner that adapts to external perturbations faster than can be explained by efferent neural control. The passive mechanics of segmented animal limbs are capable of rejecting unexpected disturbances without the supervision of an active controller. By simulating biomimetic limbs, we can learn more about this preflexive response, how the properties of segmented biological limbs foster self-stable passive mechanics, and how the control burden can be mitigated in robotic legged systems. The contribution of this body of work is to reduce the control burden of legged locomotion for robots by drawing on self-stabilizing mechanical design and control principles observed in animal locomotion. To that end, minimal templates such as Sensory-Coupled Action Switching Modules (SCASM), Central Pattern Generators (CPGs), and the Spring-Loaded Inverted Pendulum (SLIP) model are used to learn more about the essential components of legged locomotion. The motivation behind this work lies largely in the study of how internal, predictive models and the intrinsic mechanical properties of biological limbs help animals self-stabilize in real time. Robotic systems have already begun to demonstrate the benefits of these biological design primitives in an engineering context, such as reduced cost of transportation and an immediate mechanical response that does not need to wait for sensor feedback or planning. The original research presented here explores the extent to which these principles can be utilized in order to encourage stable legged locomotion over uneven terrain with as little sensory information as possible. A method for generating feedforward, terrain-adaptive control primitives based on a compliant limb architecture is developed. Offline analysis of system dynamics is used to develop clock-driven patterns of leg stiffness and attack angle control during late swing with which passive stance phase dynamics will produce the desired apex height and stride period to within 0.1 mm and 50 μs, respectively. A feedforward method of energy modulation is incorporated that regulates velocity to within 10−5 m/s. Preservation of a constant stride period eliminates the need for detection of the apex event. Precise predictive controls based on thorough offline dynamic modeling reduce the system’s reliance on state and environmental data, even in rough terrain. These offline models of system dynamics are used to generate a controller that predicts the dynamics of running over uneven terrain using an internal clock signal. Real-time state estimation is a non-trivial bottleneck in the control of mobile systems, legged and wheeled alike. The present work significantly reduces this burden by generating predictive models that eliminate the need for state estimation within the control loop, even in the presence of damping. The resulting system achieves not only self-stable legged running, but direct control of height, speed, and stride period without inertial sensing or force feedback. Through this work, the controller dependency on accurate and rapid sensing of the body height and velocity, apex event, and ground variation was eliminated. This was done by harnessing physics-based models of leg dynamics, used to generate predictive controls that exploit the passive mechanics of the compliant limb to their full potential. While no real world system is entirely deterministic, such a predictive model may serve as the base layer for a lightweight control architecture capable of stable robotic limb control, as in animal locomotion.
APA, Harvard, Vancouver, ISO, and other styles
6

Lewinger, William Anthony. "Neurobiologically-based Control System for an Adaptively Walking Hexapod." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1295655329.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Boxerbaum, Alexander Steele. "Continuous Wave Peristaltic Motion in a Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1333649965.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Luo, Ming. "Pressure-Operated Soft Robotic Snake Modeling, Control, and Motion Planning." Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-dissertations/551.

Full text
Abstract:
Search and rescue mobile robots have shown great promise and have been under development by the robotics researchers for many years. They are many locomotion methods for different robotic platforms, including legged, wheeled, flying and hybrid. In general, the environment that these robots would operate in is very hazardous and complicated, where wheeled robots will have difficulty physically traversing and where legged robots would need to spend too much time planning their foot placement. Drawing inspiration from biology, we have noticed that the snake is an animal well-suited to complicated, rubble filled environments. A snake’s body has a very simple structure that nevertheless allows the snake to traverse very complex environments smoothly and flexibly using different locomotion modes. Many researchers have developed different kinds of snake robots, but there is still a big discrepancy between the capabilities of current snake robots and natural snakes. Two aspects of this discrepancy are the rigidity of current snake robots, which limit their physical flexibility, and the current techniques for control and motion planning, which are too complicated to apply to these snake robots without a tremendous amount of computation time and expensive hardware. In order to bridge the gap in flexibility, pneumatic soft robotics is a potential good solution. A soft body can absorb the impact forces during the collisions with obstacles, making soft snake robots suitable for unpredictable environments. However, the incorporation of autonomous control in soft mobile robotics has not been achieved yet. One reason for this is the lack of the embeddable flexible soft body sensor technology and portable power sources that would allow soft robotic systems to meet the essential hardware prerequisites of autonomous systems. The infinite degree of freedom and fluid-dynamic effects inherent of soft pneumatics make these systems difficult in terms of modeling, control, and motion planning: techniques generally required for autonomous systems. This dissertation addresses fundamental challenges of soft robotics modeling, control, and motion planning, as well as the challenge of making an effective soft pneumatic snake platform. In my 5 years of PhD work, I have developed four generations of pressure operated WPI soft robotics snakes (SRS), the fastest of which can travel about 220 mm/s, which is around one body per second. In order to make these soft robots autonomous, I first proposed a mathematical dynamical model for the WPI SRS and verified its accuracy through experimentation. Then I designed and fabricated a curvature sensor to be embedded inside each soft actuator to measure their bending angles. The latest WPI SRS is a modularized system which can be scaled up or down depending on the requirements of the task. I also developed and implemented an algorithm which allows this version of the WPI SRS to correct its own locomotion using iterative learning control. Finally, I developed and tested a motion planning and trajectory following algorithm, which allowed the latest WPI SRS to traverse an obstacle filled environment. Future research will focus on motion planning and control of the WPI SRS in outdoor environments utilizing the camera instead of the tracking system. In addition, it is important to investigate optimal control and motion planning strategies for mobile manipulation tasks where the SRS needs to move and manipulate its environment.. Finally, the future work will include the design, control, and motion planning for a soft snake robot where each segment has two degrees-of-freedom, allowing it to lift itself off the ground and traverse complex-real-world environments.
APA, Harvard, Vancouver, ISO, and other styles
9

Bhatti, Jawaad. "Foot placement for running robots." Thesis, University of Bath, 2016. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.678855.

Full text
Abstract:
Rubble-strewn corridors, stairs and steep natural terrain all present a challenge for wheels and tracks. Legs are a solution in these cases because foot placement allows the traversal of discontinuous terrain. Legged robots, however, currently lack the performance needed for practical applications. This work seeks to address an aspect of the problem, foot placement while running. A novel hopping height controller for a spring-loaded legged robot is presented. It is simple and performs well enough to allow control of the ballistic trajectory of hops and therefore foot placement. Additionally, it can adapt to different ground properties using the result from previous hops to update control gains. A control strategy of extending the leg at a fixed rate during the stance phase and modulating the rate of extension on each hop was used to control the hopping height. The extension rate was then determined by a feed-forward + proportional control loop. This performed sufficiently well allowing the ballistic trajectory of hops to be controlled. In simulation, the spring-loaded inverted pendulum (SLIP) model was extended to include actuation and losses due to friction. The control strategy was developed using this model then, in a planar simulation, the controller was run to perform foot placement while running over a series of platforms which vary in their horizontal and vertical spacing. To experimentally validate and further develop the control strategy, a one-legged hopping robot, constrained to move vertically, was used. The leg had 2 links, hydraulically actuated hip and knee joints and a spring-loaded foot. Results showed that the controller developed could be used to perform hops of randomly varying size on grounds with different properties and while running on a treadmill at different speeds. As an aside, the dynamics of hydraulic actuators presented a problem for foot repositioning during flight using a simple PID controller. This was solved through the novel implementation, in hydraulics, of a `zero-vibration' (ZV) filter in a closed-loop. Simulation and experimental results demonstrating this are presented.
APA, Harvard, Vancouver, ISO, and other styles
10

Szczecinski, Nicholas S. "MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1354648661.

Full text
APA, Harvard, Vancouver, ISO, and other styles
More sources

Books on the topic "Legged robotics control soft robotics robotics"

1

Fodor, János. Aspects of Soft Computing, Intelligent Robotics and Control. Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg, 2009.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
2

Castillo, Oscar. Soft Computing for Intelligent Control and Mobile Robotics. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
3

Fodor, János, and Janusz Kacprzyk, eds. Aspects of Soft Computing, Intelligent Robotics and Control. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-03633-0.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Fodor, János, and Robert Fullér, eds. Advances in Soft Computing, Intelligent Robotics and Control. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-05945-7.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Castillo, Oscar, Janusz Kacprzyk, and Witold Pedrycz, eds. Soft Computing for Intelligent Control and Mobile Robotics. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-15534-5.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Sadati, Nasser. Hybrid control and motion planning of dynamical legged locomotion. Hoboken, N.J: Wiley, 2012.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
7

Stefan, Wermter, Palm Günther, and Elshaw Mark, eds. Biomimetic neural learning for intelligent robots: Intelligent systems, cognitive robotics, intelligent robots. Berlin: Springer, 2005.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
8

Melin, Patricia. Soft Computing Applications in Optimization, Control, and Recognition. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
9

Design and control of intelligent robotic systems. Berlin: Springer, 2009.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
10

International Symposium on Intelligent Automation and Control (2nd 1996 Montpellier, France). Intelligent automation and control: Recent trends in development and applications : proceedings of the World Automation Congress (WAC '96), May 28-30, 1996, Montpellier, France. Edited by Jamshidi Mohammad, Yuh Junku, Dauchez Pierre, and World Automation Congress (1996 : Montpellier, France). Albuquerque: TSI Press, 1996.

Find full text
APA, Harvard, Vancouver, ISO, and other styles
More sources

Book chapters on the topic "Legged robotics control soft robotics robotics"

1

Seyfarth, Andre, Katayon Radkhah, and Oskar von Stryk. "Concepts of Softness for Legged Locomotion and Their Assessment." In Soft Robotics, 120–33. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_11.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Haddadin, Sami. "Soft-Robotics Control." In Towards Safe Robots, 25–68. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-40308-8_3.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Drossel, Welf-Guntram, Holger Schlegel, Michael Walther, Philipp Zimmermann, and André Bucht. "New Concepts for Distributed Actuators and Their Control." In Soft Robotics, 19–32. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_3.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Armbrust, Christopher, Lisa Kiekbusch, Thorsten Ropertz, and Karsten Berns. "Soft Robot Control with a Behaviour-Based Architecture." In Soft Robotics, 81–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_8.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Roßmann, Thomas, and Friedrich Pfeiffer. "Control of an eight legged pipe crawling robot." In Experimental Robotics V, 335–46. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/bfb0112974.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Wieber, Pierre-Brice, Russ Tedrake, and Scott Kuindersma. "Modeling and Control of Legged Robots." In Springer Handbook of Robotics, 1203–34. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32552-1_48.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Manzano, Sarah Aguasvivas, Patricia Xu, Khoi Ly, Robert Shepherd, and Nikolaus Correll. "High-Bandwidth Nonlinear Control for Soft Actuators with Recursive Network Models." In Experimental Robotics, 589–99. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-71151-1_52.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Armada, Manuel. "Telepresence and Intelligent Control for a Legged Locomotion Robot." In Expert Systems and Robotics, 377–96. Berlin, Heidelberg: Springer Berlin Heidelberg, 1991. http://dx.doi.org/10.1007/978-3-642-76465-3_21.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Duperret, Jeffrey, and Daniel E. Koditschek. "Towards Reactive Control of Transitional Legged Robot Maneuvers." In Springer Proceedings in Advanced Robotics, 145–62. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-28619-4_17.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Zhang, Haochong, Rongyun Cao, Shlomo Zilberstein, Feng Wu, and Xiaoping Chen. "Toward Effective Soft Robot Control via Reinforcement Learning." In Intelligent Robotics and Applications, 173–84. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65289-4_17.

Full text
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "Legged robotics control soft robotics robotics"

1

Gorinevsky, D. M., and A. Yu Shneider. "Force control in locomotion of legged vehicle over rigid and soft surfaces." In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. IEEE, 1991. http://dx.doi.org/10.1109/icar.1991.240665.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Florez, Juan Manuel, Benjamin Shih, Yixin Bai, and Jamie K. Paik. "Soft pneumatic actuators for legged locomotion." In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2014. http://dx.doi.org/10.1109/robio.2014.7090302.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Freitas, Gustavo, Fernando Lizarralde, Liu Hsu, Vitor Paranhos, Ney R. Salvi dos Reis, and Marcel Bergerman. "Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot." In Biomechanics / Robotics. Calgary,AB,Canada: ACTAPRESS, 2011. http://dx.doi.org/10.2316/p.2011.752-011.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Freitas, Gustavo, Fernando Lizarralde, Liu Hsu, Vitor Paranhos, Ney R. Salvi dos Reis, and Marcel Bergerman. "Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot." In Biomechanics / Robotics. Calgary,AB,Canada: ACTAPRESS, 2012. http://dx.doi.org/10.2316/p.2012.752-011.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Hutter, Marco, Mark Hoepflinger, Christian Gehring, Michael Bloesch, C. David Remy, and Roland Siegwart. "Hybrid Operational Space Control for Compliant Legged Systems." In Robotics: Science and Systems 2012. Robotics: Science and Systems Foundation, 2012. http://dx.doi.org/10.15607/rss.2012.viii.017.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Garus, Jerzy, and Bogdan Zak. "Using of soft computing techniques to control of underwater robot." In Robotics (MMAR). IEEE, 2010. http://dx.doi.org/10.1109/mmar.2010.5587198.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Guglielmino, Emanuele, Claudio Semini, Yousheng Yang, Darwin Caldwell, Helmut Kogler, and Rudolf Scheidl. "Energy Efficient Fluid Power in Autonomous Legged Robotics." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2522.

Full text
Abstract:
This paper is concerned with the application of fluid power in autonomous robotics where high power density and energy efficiency are key requirements. A hydraulic drive for a bioinspired quadruped robot leg is studied. The performance of a classical valve-controlled (“resistive-type”) and of an energy saving (“switching-control mode”) hydraulic actuation system are compared. After describing the bio-inspired leg design and prototyping, models for both drives are developed and energy efficiency assessments are carried out. It is shown through simulation that the switching-control mode hydraulic actuation can meet the challenge of legged robotic locomotion in terms of energy efficiency with respect to improving robot power-autonomy. An energy saving of about 75% is achieved. Limitations of the current system are identified and suggestions for improvements are outlined.
APA, Harvard, Vancouver, ISO, and other styles
8

Corucci, Francesco, Marcello Calisti, Helmut Hauser, and Cecilia Laschi. "Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot." In 2015 International Conference on Advanced Robotics (ICAR). IEEE, 2015. http://dx.doi.org/10.1109/icar.2015.7251477.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

Guo, Xiaofeng, Bryan Blaise, Jennifer Molnar, Jeremiah Coholich, Shantanu Padte, Ye Zhao, and Frank L. Hammond. "Soft Foot Sensor Design and Terrain Classification for Dynamic Legged Locomotion." In 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2020. http://dx.doi.org/10.1109/robosoft48309.2020.9115990.

Full text
APA, Harvard, Vancouver, ISO, and other styles
10

Sung, Sanghak, and Youngil Youm. "Landing Motion Control of Articulated Legged Robot." In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.363971.

Full text
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic 'Legged robotics control soft robotics robotics' for particular source types:
Journal articles Dissertations / Theses Books
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography