Related papers: Kinematic and Dynamic Analyses of the Orthoglide 5…
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with rewriting the robot models as a function of the…
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…
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support…
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due to the costly second-order partial derivatives of the…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping…
Dynamical systems of the gauge glass are investigated by the method of the gauge transformation.Both stochastic and deterministic dynamics are treated. Several exact relations are derived among dynamical quantities such as equilibrium and…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps…
In this article, we investigate the transverse dynamics of a single particle in a model integrable accelerator lattice, based on a McMillan axially-symmetric electron lens. Although the McMillan e-lens has been considered as a device…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
One of the most elusive goals in myographic prosthesis control is the ability to reliably decode continuous positions simultaneously across multiple degrees-of-freedom. Goal: To demonstrate dexterous, natural, biomimetic finger and wrist…
A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…