Related papers: Mod\'elisation Dynamique d'un Robot Parall\`ele \`…
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere.…
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere.…
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To…
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…
We consider the theoretical model of Crystalline robots, which have been introduced and prototyped by the robotics community. These robots consist of independently manipulable unit-square atoms that can extend/contract arms on each side and…
Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
This paper presents the examination of the clever Differential with three levels of opportunity. The is the principal differential with that interprets differential speed and force to its three results when the results are under fluctuated…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…