4 accepted papers
In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these elements. With this control framework, a rich repertoire of movements can be generated by combination of basic modules.…
A prominent challenge in the field of robotics is manipulation of flexible objects. One major factor that makes this task difficult is the complex dynamics emerging from its high-dimensional structure. This argues against the use of popular optimization-based approaches, which scale poorly with syst…
Manipulation of flexible objects is one of the major challenges in robotics as the nonlinear dynamics of the high-dimensional object structure makes it difficult to apply current control methods. A previous simulation study showed that control with few pre-structured joint trajectories coupled with…
There are two major challenges in universal stair climbing: stairs without riser and with nose, and stairs with various dimensions. In this study, we proposed an indoor robot platform to overcome these challenges. First, to create an angle of attack, the Tusk, a passive, protruded element, was added…