Results 91 to 100 of about 270,496 (172)

Engineering an artificial trachea: Quantitative benchmarks and modular strategies for mechanics, epithelialization, and vascular integration

FlexMat, EarlyView.
In this work, we first examine the limitations of surgical repair and stenting, including migration, granulation, mucus plugging, and infection. We then translate these failures into engineering constraints involving geometry, mechanics, fixation, degradation, junctional stress, and remodeling.
Yiwei Xu, Hanqing Dai, Qianwang Ye, Wanlu Zhang, Na Wang, Lei Xiong, Ruiqian Guo   +6 more
wiley   +1 more source

Terrain‐Adaptive Quadrupedal Locomotion Using Model Predictive Control With Impedance Control and SINDy Model Enhancement

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT Quadrupedal robots operating in unstructured environments require adaptive control systems that can handle diverse terrain conditions without prior surface characterization. This paper presents an integrated control architecture that combines Model Predictive Control (MPC) with adaptive impedance control and SINDy‐based model corrections for ...
Peter James McConnellogue, Mien Van, Rhyss McMullan, Dianhao Zhang, Wasif Naeem   +4 more
wiley   +1 more source

WoLF: the Whole-body Locomotion Framework for Quadruped Robots

, 2022
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and control of quadrupedal robot hardware into a simple to use and robust software ...
Raiola, Gennaro, Focchi, Michele, Hoffman, Enrico Mingo   +2 more
core  

Design and gait research of pneumatic soft quadruped robot

Advances in Mechanical Engineering
Soft robots possess flexibility and, in theory, an unlimited number of degrees of freedom. These characteristics give them superior flexibility, making them better suited for navigating complex terrain, such as steep or rugged environments, compared to ...
Meng Hongjun, Ren Danyu
doaj   +1 more source

Observer Design for Vector Nonlinear Systems With Applications to Autonomous Vehicles and Robots

International Journal of Robust and Nonlinear Control, EarlyView.
ABSTRACT This paper focuses on observer design for nonlinear systems involving functions of vector arguments. The output equations and the process dynamics are both composed of nonlinear functions of nonseparable multivariable states. The partial derivatives of the nonlinear functions are assumed to be bounded.
Gaurav Sharma, Ali Zemouche, Rajesh Rajamani   +2 more
wiley   +1 more source

Stair‐Climbing Wheelchairs for Enhanced Mobility: A Comprehensive Review of Fundamental Mechanisms, Design Concepts, and Performance Analysis

Journal of Field Robotics, EarlyView.
ABSTRACT People with physical disabilities face significant mobility challenges while climbing uneven surfaces and staircases. In these circumstances, traditional wheelchairs do not provide stable, safely controlled mobility, underscoring the importance of building superior stair‐climbing wheelchairs for both medical and infrastructure purposes.
Gopisetti Manikanta, S. M. Abhinandan, Anand Reddy, G. Chandana, Divya, P. Anil Kumar, Ch. Venkata Rao, Ashish Garg, Ravi C. Soni, Jogendra Kumar, Bhargav Akkinepally   +10 more
wiley   +1 more source

Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance

Chinese Journal of Mechanical Engineering
Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation, disaster rescue and other scenarios, due to the advantages of high payload and high power to weight ratio.
Huaizhi Zong, Zhixian Yang, Xiu Yu, Junhui Zhang, Jikun Ai, Qixin Zhu, Feng Wang, Qi Su, Bing Xu   +8 more
doaj   +1 more source

Gait Tracking Control of Quadruped Robot Using Differential Evolution Based Structure Specified Mixed Sensitivity H∞ Robust Control

Journal of Control Science and Engineering, 2016
This paper proposed a control algorithm that guarantees gait tracking performance for quadruped robots. During dynamic gait motion, such as trotting, the quadruped robot is unstable.
Petrus Sutyasadi, Manukid Parnichkun
doaj   +1 more source

Hexapod Locomotion Across Structured and Unstructured Terrains: A Data‐Driven Review of Modeling, Control, and Validation

Journal of Field Robotics, EarlyView.
ABSTRACT The design of a hexapod is complex and requires integration between kinematic models, control systems, and sensing. Existing literature has reviewed these sub‐systems in isolation. Since 2021, there has been no review of the field despite significant advancements in soft soil, lunar traversal, and artificial intelligence.
Akhil Rampersad, Bashan Naidoo
wiley   +1 more source

Inferring Brown Bear Hair Snare Interactions by Automatically Detecting Bipedalism on Camera Trap Images Using Pose Estimation and a Multilayer Perceptron

Remote Sensing in Ecology and Conservation, EarlyView.
This study proposes an automated method to infer brown bear hair snare interactions by detecting bipedal behavior in camera‐trap images using a pose estimation model and a multilayer perceptron (MLP). A YOLO‐based model, fine‐tuned from humans and dogs to a custom dataset, achieved high performance (≈93% keypoint precision and ≈96% classification ...
Arnau Campanera‐Moliné, Víctor Sazatornil, Lluís Brotons, Felipe Lumbreras Ruiz, Robert Benavente, Maguiña Ramilo‐Henry, Cristina Ramos, Santiago Palazón, Daniel Ponsa   +8 more
wiley   +1 more source