Abstract:
Mobile robotics is a constantly evolving field, synergetic with artificial intelligence. Collective and cooperative autonomous robots are a short-term goal at the moment, with new breakthroughs reported yearly. While aerial robots get the most attention, other environments are equally important and pose challenging problems in motion control, sensing and engineering. Cube robots are interesting in this regard, as their shape allows groups of such robots to form stable structures. Additionally, it grants the robot an ability to jump. In this article we propose a control for a cube robot to climb a wall, assuming a symmetric wall facing it is available. We consider two-dimensional motion in vertical plane. The proposed control allows to optimize the rebound trajectory after a collision to reach maximum flight distance. We also present a software to model the movement of a cube robot and try various control strategies, based on Box2D and ImGUI libraries.
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