An underwater hexapod robot, driven by six C-shaped legs and eight thrusters, has the potential to traverse diverse terrains with unknown deformable properties, which can lead to unknown leg–terrain interaction forces. However, it is hard to use exteroceptive sensors such as cameras and sonars to recognize these properties. Here we propose a method to perceive the interaction … [Read more...] about Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors
Dynamics
Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object: Proposing a New Approach
Picking up objects and tossing them on a conveyor belt are activities generated on a daily basis in industry. These tasks are still done largely by humans. This article proposes a unified motion generator for a bimanual robotic system that enables two seven-degree-of-freedom robotic arms to grab and toss an object in one swipe. Unlike classical approaches that grab the object … [Read more...] about Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object: Proposing a New Approach
