Hassan H. Hariri — accepted AI-conference papers

2019

Design and Analysis of A Miniature Two-Wheg Climbing Robot with Robust Internal and External Transitioning Capabilities

Darren C. Y. Koh, Audelia G. Dharmawan, Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Roland Bouffanais +2

ICRA 2019poster

Plane-to-plane transitioning has been a significant challenge for climbing robots. To accomplish this, additional actuator or robot module is usually required which significantly increases both size and weight of the robot. This paper presents a two-wheg miniature climbing robot with a novel passive…

Cited by 17 Source ↗Scholar ↗

2017

Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator

Audelia G. Dharmawan, Hassan H. Hariri, Shaohui Foong, Gim Song Soh, Kristin L. Wood

ICRA 2017poster

In small mobile robots, decreasing the number of actuators is usually desirable to reduce the size and weight of the robot, but it is usually at the expense of the robot's degree of freedom (DOF). This work presents the development and preliminary experimental testing of a novel Legged Piezoelectric…

Cited by 50 Source ↗Scholar ↗

2016

A tether-less Legged Piezoelectric Miniature Robot using bounding gait locomotion for bidirectional motion

Hassan H. Hariri, Leonardus A. Prasetya, Shaohui Foong, Gim Song Soh, Kevin N. Otto, Kristin L. Wood

ICRA 2016

This paper describes the design and evaluation of a Legged Piezoelectric Miniature Robot (LPMR) propelled by standing wave vibrations at the legs, which are biologically inspired by the bounding gait locomotion of animals. The LPMR comprises of a single piezoelectric patch, a metal beam, two contact

Cited by 36 Source ↗Scholar ↗