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Legged locomotion

Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors

April 5, 2024 by Lepeng Chen, Rongxin Cui, Weisheng Yan, Hui Xu, Shouxu Zhang, Haitao Yu

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

Tensegristats: Lightweight Untethered Morphing Robots

September 20, 2023 by Robert Shepherd

Flexible and shape-shifting structures are common in nature. Creating shape-shifting machines using rigid components requires complex design work. Soft robotic attempts are closer to the muscular hydrostats they mimic but are slow and inefficient untethered and do not generally allow large-scale shape change between forms. Here we present the idea of “tensegristat” robots in … [Read more...] about Tensegristats: Lightweight Untethered Morphing Robots

Tumbling Robot Control Using Reinforcement Learning: An Adaptive Control Policy That Transfers Well to the Real World

June 28, 2023 by Andrew Schwartzwald

Tumbling robots are simple platforms that are able to traverse large obstacles relative to their size, at the cost of being difficult to control. Existing control methods apply only a subset of possible robot motions and make the assumption of flat terrain. Reinforcement learning (RL) allows for the development of sophisticated control schemes that can adapt to diverse … [Read more...] about Tumbling Robot Control Using Reinforcement Learning: An Adaptive Control Policy That Transfers Well to the Real World

An Intelligent Rehabilitation Robot With Passive and Active Direct Switching Training

April 25, 2023 by Ping Sun

The demand for walking training robots has increased owing to a serious shortage of rehabilitation physiotherapists. However, the intelligence level of existing rehabilitation training robots is low; these robots cannot realize a direct switch between passive and active training, which makes rehabilitees lack interest in training and deteriorates the effect of rehabilitation … [Read more...] about An Intelligent Rehabilitation Robot With Passive and Active Direct Switching Training

Damping in Compliant Actuation: A Review

October 24, 2022 by Simone Monteleone

Compliant actuator technology aims at building robots capable of physically interacting with humans and the environment, matching the versatility and capacity of biological systems. Recently, it underwent a significant evolution with the introduction of damping to improve performance. Such development reflects several aspects, including energy saving and oscillation mitigation. … [Read more...] about Damping in Compliant Actuation: A Review

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IEEE Robotics & Automation Magazine (RAM) has over 14,000 readers who are the people who drive this remarkable technology. More than half work in basic research and many of the others are top level engineers and decision-makers in industry.  This magazine highlights new concepts in Robotics and Automation that are applied to real-world systems. It delivers tutorial and survey papers by distinguished experts in the field, organizes focused special issues on hot topics, and provides a forum for disseminating and discussing emerging trends, novel achievements, and selected news relevant to the development of the whole community active in these fields worldwide.

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IEEE Robotics & Automation Magazine  publishes four issues per year: March, June, September and December.