6 papers · 1 filter
Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs
Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3
This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a lockable clutch to store part of the impact-induced elastic energy afte…
Locomotion Dynamics of an Underactuated Three-Link Robotic Vehicle
Leonid Raz, Yizhar Or
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A k…
Sample Efficient Learning of Body-Environment Interaction of an Under-Actuated System
Zvi Chapnik, Yizhar Or, Shai Revzen
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-fric…
Dynamics and multi-stability of a rotor-actuated Twistcar robot with passive steering joint
Anna Zigelman, Zitao Yu, Rom Levy +1
The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In…
Analysis and experiments of the dissipative Twistcar: direction reversal and asymptotic approximations
Rom Levy, Ari Dantus, Zitao Yu +1
Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation. Twistcar is a classical example inspired by a riding toy, which has been analyz…
Dynamic single-input control of multi-state multi-transition soft robotic actuator
Geron Yamit, Ben-Haim Eran, Gat D. Amir +2
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns.…