Tomi Ylikorpi

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The shape of a sphere provides complete symmetry and a soft, safe and friendly look without any sharp corners or protrusions, which is advantageous when a robotic device is dealing with people. In terms of robotics, a spherical structure can freely rotate in any direction and all positions are stable. While the propulsion system is located inside the ball(More)
This work reports the preliminary results on a new design concept for bipedal walking robots. The concept is based on the actuators (Linear Induction Motors), and the prospect that these actuators provide to combine passive dynamic walking with active walking. Comprehensive mechanical and dynamic simulations were done to decide the suitable parameter for(More)
This work presents an assessment of different control techniques based on Limit Cycle Walking. The study is performed on a two-dimensional kneed bipedal simulator developed with Open Dynamics Engine, which includes realistic configuration of weight allocation, link length, inertia distribution and impacts. The controllers are model-based driven from an(More)
Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forwardmotion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and(More)
This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ballrobot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a(More)
This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can(More)
This article presents a few different methods to present a passive walker model in Adams MD R3 software and compares their simulation results to a walker model built in Matlab software. The discontinuous Matlab simulator applies manually entered mathematical equations to describe system dynamics while the Adams simulation software creates the dynamic models(More)
Acknowledgements I thank my supervisor, Professor Emiritus Aarne Halme, and instructor, Tomi Ylikorpi, for granting me the freedom to go far away from Finland, to the Jet Propulsion Laboratory (JPL) to study autonomous docking on the Axel rover. Tomi was particularly instrumental in arranging and establishing contacts at NASA, and throughout the thesis ,(More)
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