Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons
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Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...
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Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...
An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
We developed an automatic method to extract the parameters of the 7 x 50m Stroke Eficiency Test for swimming based on a wrist worn acceleration sensor device. In the wrist acceleration signal we detect characteristic swim events such as wall push-offs, wal ...
This thesis presents the design and realization of two generations of robot elements that can be assembled together to construct amphibious mobile robots. These elements, designed to be individually waterproof and having their own battery, motor controller ...
In this paper, we study the cooperative transport of a heavy object by a group of robots towards a goal. We investigate the case in which robots have partial and noisy knowledge of the goal direction and can not perceive the goal itself. The robots have to ...