Analysis and control of a dissipative spring-mass hopper with torque actuation

Robotics: Science and Systems VI spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the sixth Robotics: Science and Systems conference, held in 2010 at the University of Zaragoza, Spain. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.


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In this paper, we introduced a novel micro swarm robotic platform, called the AttaBot, designed specifically for complex systems and swarm robotics research. The novelty of the AttaBot platform is two-folds. (1) Artificial pheromones are implemented, (2) Each AttaBot has a gripper to grip small discs on the ground. In this way, AttaBot platform can be used in many different swarm scenarios including foraging, collective motion and collective transport. We introduced the design of the AttaBot, focusing mainl...
Automated classification of remote sensing images using multileveled MobileNetV2 and DWT techniques
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Automated classification of remote sensing images is one of the complex issues in robotics and machine learning fields. Many models have been proposed for remote sensing image classification (RSIC) to obtain high classification performance. The objective of this study are twofold. First, to create a new space object image collection as such a dataset is not currently available. Second, propose a novel RSIC model to yield highest classification performance using our newly created dataset. Our presented autom...
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Swarm robotics is an approach to the coordination of large numbers of robots. The main motivation of this thesis is to study a robotic system designed to do flocking both indoors and outdoors. A walking robot is designed parallel to this purpose. In the first part of thesis, a leg is designed to minimize the displacement of center of mass of robot in vertical axis to eliminate mechanical noise. Mechanism analysis and Matlab optimization tools are utilized in this process. Then, electronic components of robo...
Citation Formats
M. M. Ankaralı and U. Saranlı, Analysis and control of a dissipative spring-mass hopper with torque actuation. 2011, p. 48.