The monopod hopper described here fits into a cube that is 5 cm on a side, is autonomous, and is designed to be statically and passively dynamically stable. Hopping is achieved th...
Terence E. Wei, Gabriel M. Nelson, Roger D. Quinn,...
We discuss a physical implementation of the Crystalline robot system. Crystalline robots consist of modules that can aggregate together to form distributed robot systems. Crystall...
This paper describes the kinematic analysis of two different cricket locomotion modalities, and the use of these data in a dynamic simulation to combine and simplify the insect...
Sathaporn Laksanacharoen, Alan J. Pollack, Gabriel...
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementall...
Much attention has been given to CONDENSATION methods for mobile robot localization. This has resulted in somewhat of a breakthrough in representing uncertainty for mobile robots....
Patric Jensfelt, David J. Austin, Olle Wijk, Magnu...
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an an...
By exploiting properties of the joint space mass-inertia matrix of flexure jointed hexapods, a new decoupling method is proposed. The new decoupling method, through a static input...
Our goal is to develop an autonomous robot that will fit within a two-inch cube and will locomote by walking and jumping. The robot will be based on the kinematics of a cricket. I...
Matthew C. Birch, Roger D. Quinn, Geon Hahm, Steph...
This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic system. The spherical robot is driven by two remotely controll...
A new mobile robot localization technique is presented which uses multiple Gaussian hypotheses to represent the probability distribution of the robots location in the environment....