3 accepted papers
MorphoBall is a bio-inspired, deformable spherical robot designed for multimodal locomotion across terrestrial and aquatic environments. By integrating a dual-mode drive system (spherical rolling and differential-drive) with a morphology-mediated propulsion mechanism, MorphoBall achieves adaptive mo…
This article presents a nonlinear estimator on matrix Lie group that performs a fast unscented transformation with natural evolution of sigma points from a geometric perspective. Different from the existing methods, the proposed method preserves the original dynamic equations on the manifold, which
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering the manifold constraint of the robot configuration. In this