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Optimization Complete Area Coverage by Reconfigurable hTrihex Tiling Robot
TLDR
The optimal navigation planning problem, including the least changing shape, shortest travel distance, and the lowest travel time while ensuring complete coverage of the map area, are solved and the CACP framework for a tiling robot with three honeycomb shape modules is proposed. Expand
Panthera: Design of a Reconfigurable Pavement Sweeping Robot
TLDR
The modeling and steering kinematics is presented along with experimental results of the path followed and discussion supporting the robot’s capability. Expand
System Level Modeling and Control Design of hTetrakis–A Polyiamond Inspired Self-Reconfigurable Floor Tiling Robot
TLDR
This paper focuses on the modeling and controller design of the locomotion and reconfiguration mechanism of the Platform hTetrakis, a new class of self-reconfigurable floor cleaning robot made of four triangular blocks, based on the classical Travelling Salesman Problem. Expand
Reinforcement Learning-Based Energy-Aware Area Coverage for Reconfigurable hRombo Tiling Robot
TLDR
A Complete Tileset Energy-Aware Coverage Path Planning (CTPP) framework for a tiling self-reconfigurable robot named hRombo with four rhombus-shaped modules is proposed and showed that the CTPP is suitable for producing Pareto plans that enable robots to navigate from source to target in different workspaces with the least consumed energy and time. Expand
Modeling and Analysis of hHoneycomb—A Polyhex Inspired Reconfigurable Tiling Robot
TLDR
The proposed design is validated and proven to overcome structural failure and system resonance, the energy efficient configuration and tiling set are addressed and the real-time current consumption of each joint during reconfiguration is addressed. Expand
Application of Tiling Theory for Path Planning Strategy in a Polyiamond Inspired Reconfigurable Robot
TLDR
This paper addresses the mechanical structural design, reconfiguration of the robot platform through the hinge mechanism, and the electronics and navigation module of hTetrakis, a new class of self-reconfigurable floor cleaning robot composed of tetriamonds that adopt three distinct forms. Expand
Modelling of soldier fly halteres for gyroscopic oscillations
TLDR
The natural frequency along both actuation and sensing directions is estimated, a finite element model of the haltere's joint mechanism is proposed, and the significance of the haltedere's asymmetric cross-section is discussed. Expand
Modeling Strain Sensing by the Gyroscopic Halteres, in the Dipteran Soldier Fly, Hermetia illucens
Dipteran insects are known to receive mechanosensory feedback on their aerial rotations from a pair of vibratory gyroscopic organs called halteres. Halteres are simple cantilever-like structures withExpand
Methods for evaluating effects of unloader knee braces on joint health: a review
TLDR
A state-of-the-art review of methods for evaluating the effectiveness and effect of unloader knee braces on the knee joint and their limitations and future directions is provided. Expand
Autonomous Self-Reconfigurable Floor Cleaning Robot
TLDR
The hTrihex platform is described, which is a self-reconfigurable adaptive robot that attains three different configurations, which gives rise to variation in the kinematic model, which in turn changes the behavior of robot locomotion. Expand
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