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Relevant bibliographies by topics / Uneven terrain locomotion

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Academic literature on the topic 'Uneven terrain locomotion'

Author: Grafiati

Published: 4 June 2021

Last updated: 17 February 2022

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Journal articles on the topic "Uneven terrain locomotion"

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Liu, Ping Yi, Hai Tao Li, Shao Ying Zhang, and Wen Jun Wei. "Kinematic Analysis of the Wheeled Terrain Adaptive Locomotion with Two-Degree-of-Freedom." Advanced Materials Research 538-541 (June 2012): 713–16. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.713.

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According to the requirements for field work in precision agriculture, a new wheeled terrain adaptive locomotion theory with two-degree-of-freedom basing on the conventional wheeled locomotion mechanism is presented for the farmland environment in rough terrains of hill, mountain, and etc area. The mechanism’s two-degree-of-freedom of terrain adaptive locomotion is calculated when running on uneven terrain area. This research is valuable and helpful in theory for improving the agricultural machines’ terrain adaptive locomotion ability.

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Voloshina, Alexandra S., and Daniel P. Ferris. "Design and Validation of an Instrumented Uneven Terrain Treadmill." Journal of Applied Biomechanics 34, no. 3 (2018): 236–39. http://dx.doi.org/10.1123/jab.2016-0322.

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Studying human and animal locomotion on an uneven terrain can be beneficial to basic science and applied studies for clinical and robotic applications. Traditional biomechanical analysis of human locomotion has often been limited to laboratory environments with flat, smooth runways and treadmills. The authors modified a regular exercise treadmill by attaching wooden blocks to the treadmill belt to yield an uneven locomotion surface. To ensure that these treadmill modifications facilitated biomechanical measurements, the authors compared ground reaction force data collected while a subject ran

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Valsecchi, Giorgio, Ruben Grandia, and Marco Hutter. "Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet." IEEE Robotics and Automation Letters 5, no. 2 (2020): 1548–55. http://dx.doi.org/10.1109/lra.2020.2969160.

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Daley, Monica A., and Andrew A. Biewener. "Leg muscles that mediate stability: mechanics and control of two distal extensor muscles during obstacle negotiation in the guinea fowl." Philosophical Transactions of the Royal Society B: Biological Sciences 366, no. 1570 (2011): 1580–91. http://dx.doi.org/10.1098/rstb.2010.0338.

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Here, we used an obstacle treadmill experiment to investigate the neuromuscular control of locomotion in uneven terrain. We measured in vivo function of two distal muscles of the guinea fowl, lateral gastrocnemius (LG) and digital flexor-IV (DF), during level running, and two uneven terrains, with 5 and 7 cm obstacles. Uneven terrain required one step onto an obstacle every four to five strides. We compared both perturbed and unperturbed strides in uneven terrain to level terrain. When the bird stepped onto an obstacle, the leg became crouched, both muscles acted at longer lengths and produced

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Saudabayev, Artur, Farabi Kungozhin, Damir Nurseitov, and Huseyin Atakan Varol. "Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor." Journal of Sensors 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/425732.

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The performance of a mobile robot can be improved by utilizing different locomotion modes in various terrain conditions. This creates the necessity of having a supervisory controller capable of recognizing different terrain types and changing the locomotion mode of the robot accordingly. This work focuses on the locomotion strategy selection problem for a hybrid legged wheeled mobile robot. Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcont

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Wei, Hui, Mei Shuai, and Zhong Yu Wang. "Design of 8-DOF Humanoid Robot Foot." Advanced Materials Research 479-481 (February 2012): 2403–6. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.2403.

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In this paper, a novel design of humanoid robot foot is proposed for uneven terrain walking. The proposed foot occupies 8-DOF, 4-DOF for pitch motions and 4-DOF for roll motions. To adapt to complex terrain with high energy efficiency, passive springs are placed at passive joints. The designed 8-DOF robot foot can absorb the influence of irregularities on the ground and unexpected disturbances. Through walking experiments, we confirmed the effectiveness of the proposed foot that maintained locomotion on uneven terrain with bump.

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Hao, Qian, Zhaoba Wang, Junzheng Wang, and Guangrong Chen. "Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots." Sensors 20, no. 17 (2020): 4911. http://dx.doi.org/10.3390/s20174911.

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Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough te

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Conduraru Slatineanu, Alina, Ioan Doroftei, and Ionel Conduraru. "Design and Kinematic Aspects of a Hybrid Locomotion Robot." Advanced Materials Research 1036 (October 2014): 764–69. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.764.

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Comparing to wheeled robots, legged ones are more flexible and mobile on difficult terrain, where wheeled robots cannot go. Wheels excel on flat surfaces or specially prepared surfaces, where wheeled robots are faster than legged machines. Also, wheeled platforms have simpler mechanical architecture and control algorithms. But they do not perform well when terrain is uneven, which is the case in real life, legged robots becoming more interesting to research and explore. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as

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Conduraru Slatineanu, Alina, Ioan Doroftei, Ionel Conduraru, and Dorin Luca. "Hexapod Locomotion of a Leg-Wheel Hybrid Mobile Robot." Applied Mechanics and Materials 658 (October 2014): 581–86. http://dx.doi.org/10.4028/www.scientific.net/amm.658.581.

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Legged vehicles are more flexible and mobile on difficult terrain, comparing to wheeled robots. Wheels are convenient on flat surfaces or specially prepared surfaces, wheeled vehicles being faster than legged ones. Also, wheeled robots are simpler in terms of mechanical architecture and control algorithms. But they do not perform well on uneven terrain, which is the case in real life, legged robots becoming more interesting to research and explore. This is why hybrid locomotion systems have been developed, in order to exploit the terrain adaptability of legs in rough terrain and simpler contro

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Wang, Gang, Xi Chen, and Shi-Kai Han. "Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms." International Journal of Advanced Robotic Systems 14, no. 4 (2017): 172988141772344. http://dx.doi.org/10.1177/1729881417723440.

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Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cy

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Dissertations / Theses on the topic "Uneven terrain locomotion"

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Wardle, Javan Brent. "Hexapod robot locomotion over uneven terrain." Thesis, University of Salford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360453.

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Marion, James Patrick. "Perception methods for continuous humanoid locomotion over uneven terrain." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106091.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 89-96).<br>Mobile robots can safely operate in environments that pose risks to human health, such as disaster zones and planetary exploration. Robots in these environments may encounter uneven terrain like debris fields, staircases, and rock ledges that are impossible to traverse with wheels or tracks but are surmountable by legged humanoid platforms through careful selection of footholds. Th

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Vijaykumar, R. "Motion planning for legged locomotion systems on uneven terrain /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487335992904418.

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Liu, Yiping. "A Dual-SLIP Model For Dynamic Walking In A Humanoid Over Uneven Terrain." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430.

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Pontes, José Pedro do Carmo. "A hybrid and adaptive approach to humanoid locomotion : blending rhythmic primitives and feet placement strategies." Electronic Thesis or Diss., Sorbonne université, 2019. http://www.theses.fr/2019SORUS083.

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Cette thèse présente des recherches développées pour une optimisation adaptative et efficace des contrôleurs de locomotion des robots humanoı̈des. Elle répond à cet objectif en combinant les caractéristiques de la locomotion humanoı̈de et l’impact de différents environnements dans sa dynamique, ainsi que des techniques d’optimisation mathématique et d’analyse statistique. Les contrôleurs pour la locomotion des robots bipèdes font souvent face à des défis concernant leur optimisation vers différents objectifs et environnements. Nous proposons une architecture qui utilise les informations recuei

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Gobbi, Lilian Tersa Bucken. "Developmental trends in skilled locomotor behavior over uneven terrain." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21351.pdf.

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Fahmizal and Fahmizal. "Development of a Sensor-Based Biped Robot Locomotion Controller for Uneven Terrain." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/cue53r.

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碩士<br>國立臺灣科技大學<br>電機工程系<br>102<br>Locomotion controller is an important and essential aspect for humanoid robots. This study develops a sensor-based locomotion controller for humanoid robots by using force sensitive resistor (FSR) and inertia measurement unit (IMU) sensors. To perform walk stability on uneven and ramp terrain conditions, FSR and IMU sensors are used as feedbacks to evaluate stability of biped robot. Moreover, linier inverted pendulum model (LIPM) is used to generate center of gravity (COG) trajectory. In this work, center of pressure (CoP) that was generated from four FSR sens

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Pontes, José Pedro do Carmo. "An hybrid and adaptive approach to humanoid locomotion: blending rhythmic primitives and feet placement strategies." Doctoral thesis, 2019. http://hdl.handle.net/1822/65570.

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Tese de Doutoramento em Engenharia Biomédica<br>This thesis presents research developed towards adaptable and effective optimization of controllers for humanoid robots’ locomotion. It addresses this goal by combining features of humanoid locomotion and the impact of different environments in its dynamics, along with mathematical optimization and statistical analysis techniques. Controllers for the locomotion of bipedal robots often face challenges regarding their optimization towards different objectives and different environments. We propose an architecture that uses the information ga

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Book chapters on the topic "Uneven terrain locomotion"

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Punith, Laksh Kumar, James Williamson, Taylor J. M. Dick, and Gregory S. Sawicki. "Spring Like Passive Elastic Exoskeletons May Improve Stability and Safety of Locomotion in Uneven Terrain." In Biosystems & Biorobotics. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-69547-7_7.

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Hauser, Kris. "Adaptive Locomotion on Uneven Terrains." In Humanoid Robotics: A Reference. Springer Netherlands, 2018. http://dx.doi.org/10.1007/978-94-007-6046-2_61.

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Hauser, Kris. "Adaptive Locomotion on Uneven Terrains." In Humanoid Robotics: A Reference. Springer Netherlands, 2017. http://dx.doi.org/10.1007/978-94-007-7194-9_61-1.

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Avanzini, Marco, Isabella Salvador, Elisabetta Starnini, et al. "Following the Father Steps in the Bowels of the Earth: The Ichnological Record from the Bàsura Cave (Upper Palaeolithic, Italy)." In Reading Prehistoric Human Tracks. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-60406-6_14.

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AbstractThe chapter summarizes the new results of the Bàsura Revisited Interdisciplinary Research Project. The integrated interpretation of recent archaeological data and palaeosurface laser scans, along with geoarchaeological, sedimentological, geochemical and archaeobotanical analyses, geometric morphometrics and digital photogrammetry, enabled us to reconstruct some activities that an Upper Palaeolithic human group led inside a deep cave in northern Italy within a single exploration event about 14 ka calBP. A complex and diverse track records of humans and other animals shed light on individual- and group-level behaviour, social relationship and mode of exploration of the uneven terrain. Five individuals, composed of two adults, an adolescent and two children, entered the cave barefoot lightening the way with a bunch of wooden sticks (Pinus t. sylvestris/mugo bundles). While proceeding, humans were forced to move on all fours, and the traces they left represent the first report of crawling locomotion in the global human ichnological record. Anatomical details recognizable in the crawling traces show that no clothing was present between limbs and the trampled sediments. Our study demonstrates that very young children (the youngest about 3 years old) were active members of the human groups, even in apparently dangerous and social activities, shedding light on behavioural habits of Upper Palaeolithic populations.

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Conference papers on the topic "Uneven terrain locomotion"

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Lim, Bokman, Beobkyoon Kim, F. C. Park, and D. W. Hong. "Movement primitives for three-legged locomotion over uneven terrain." In 2009 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2009. http://dx.doi.org/10.1109/robot.2009.5152693.

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Fallon, Maurice F., Pat Marion, Robin Deits, et al. "Continuous humanoid locomotion over uneven terrain using stereo fusion." In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). IEEE, 2015. http://dx.doi.org/10.1109/humanoids.2015.7363465.

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Liu, Tao, Weihai Chen, Jianhua Wang, and Xingming Wu. "Terrain analysis and locomotion control of a hexapod robot on uneven terrain." In 2014 IEEE 9th Conference on Industrial Electronics and Applications (ICIEA). IEEE, 2014. http://dx.doi.org/10.1109/iciea.2014.6931489.

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Kumar, Prashant, Wael Saab, and Pinhas Ben-Tzvi. "Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67436.

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This paper presents the design of a modular robot capable of multi-directional mobility to aid reconfiguration on uneven terrain. Modular reconfigurable robotic systems consist of a large number of self-sufficient modules that can dock and reconfigure to scale locomotion and manipulation capabilities. However, on uneven terrains, reconfigurable robots face challenges due to the requirement of precise alignment between modules during the docking procedure. First, a survey of current modular reconfigurable robots is presented, analyzing their strengths and shortcomings in reconfiguration and mob

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Liu, Chang, and Mark Plecnik. "Evaluating Plane Curves As Constraints for Locomotion on Uneven Terrain." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22666.

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Abstract This paper focuses on preliminary work related to the discovery of single degree-of-freedom mechanism paths useful for dynamic locomotion tasks. The objective is to bridge a gap between kinematic specifications and emerging dynamic behaviors. This is accomplished by formulating a set of ordinary differential equations that includes essential mechanism characteristics (path traced, mechanical advantage) but excludes all physical mechanism parameters (topology, link lengths). The dynamics represent a rotation constrained body propelled by a foot that is attached to that body by a user-d

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Morisawa, Mitsuharu, Nobuyuki Kita, Shin'ichiro Nakaoka, Kenji Kaneko, Shuuji Kajita, and Fumio Kanehiro. "Biped locomotion control for uneven terrain with narrow support region." In 2014 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2014. http://dx.doi.org/10.1109/sii.2014.7028007.

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Warnke, Jonas, Abdulaziz Shamsah, Yingke Li, and Ye Zhao. "Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain." In 2020 59th IEEE Conference on Decision and Control (CDC). IEEE, 2020. http://dx.doi.org/10.1109/cdc42340.2020.9304219.

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Hodgson, E., D. Etter, I. Abramov, N. Moiseev, and A. Stoklitsky. "Effects of Enhanced Pressure Suit Ankle Mobility on Locomotion on Uneven Terrain." In International Conference On Environmental Systems. SAE International, 2000. http://dx.doi.org/10.4271/2000-01-2481.

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Hopkins, Michael A., Dennis W. Hong, and Alexander Leonessa. "Humanoid locomotion on uneven terrain using the time-varying divergent component of motion." In 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014). IEEE, 2014. http://dx.doi.org/10.1109/humanoids.2014.7041371.

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Nelson, Carl A. "Self-Adaptive Underactuated Hybrid Rolling/Walking Locomotion." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71394.

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In planetary exploration and other similar robotic applications, it is possible to encounter obstacles on multiple scales, making it difficult to design wheeled locomotion that works well for all terrain types. Legged locomotion tends to be less efficient and slower, but allows better obstacle clearance. This paper describes a novel method of achieving robotic locomotion over uneven terrain using a passive underactuation technique. Using planetary gear trains with one input degree of freedom and two output degrees of freedom, the natural obstacle-based locking of select outputs can cause the t

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