A5037321603- Soil Mechanics and Vehicle Dynamics
- Robotic Locomotion and Control
- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Sports Dynamics and Biomechanics
- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Winter Sports Injuries and Performance
- Soft Robotics and Applications
Southern University of Science and Technology
2022-2024
Hong Kong Polytechnic University
2024
Legged robots have been widely used in unstructured field environments, where unforeseen nongeometric hazards, such as sinkage or slippage might compromise their mobility. Such uncertain terrain-related risks may be very challenging to mitigate by employing point ball-shaped feet, however, determining the appropriate principles for foot design remains an open-research problem. This study presents a systematic pipeline of and evaluations sensorized terrain-adaptive (STAF) aiming remodel...
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing eventual failure. To improve success rate, online prediction using vision, infrared imaging, model-based stochastic methods have been used literature. This paper proposes an on-board approach articulated wheeled bevameter that consists of a force-controlled arm instrumented (with force vision...
Abstract In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe events in same framework robots operated at different modes (e.g., wheel, leg), propose a unified description robots. We also provide parameter method based CNN DWT (discrete wavelet transformation) techniques verify its effectiveness over types Besides motion modes, paper considers influence slope angles robot’s handing...
Adjusting the roll angle of a rover's body is commonly used strategy to improve its traversability over sloped terrains. However, range adjustment often limited, due constraints imposed by rover design and geometry factors such as suspension, chassis, size, suspension travel. In order under these constraints, this paper proposes reconfigurable with two-level (sliding rolling) mechanism adjust body's angle. Specifically, rolling bionic structure, akin human ankle joint which can change...
Robot traversability is critical for its mission success, especially in unstructured environments, where the rough terrain can often lead to collision and tip-over. It crucial autonomous robots analyze their accurately quickly. Most of past studies tend use semantic or geometrical information alone, whose results are not accurate enough since misclassify neglect other modal information. Some scholars have tried fuse geometry information, but they require expensive sensors such as Lidar...