Related papers: Nonlinear Effects in Stiffness Modeling of Robotic…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
Structural dynamics models with nonlinear stiffness appear, for example, when analyzing systems with nonlinear material behavior or undergoing large deformations. For complex systems, these models become too large for real-time applications…
In this paper, we present a novel integrated method for designing nonlinear stiffness systems based on a general spring-boundary model (GSBM) to study the number of mechanical configurations for nonlinear stiffness systems designed by the…
This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is…
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…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Friction modeling plays a crucial role in achieving high-precision motion control in robotic operating systems. Traditional static friction models (such as the Stribeck model) are widely used due to their simple forms; however, they…
In this work, the mechanical response oF an one-dimensional active solid -- defined as a network of active stochastic particles interacting by nonlinear hard springs -- subject to an external deformation force, is numerically studied and…
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…
The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Accurate dynamic models are crucial for many robotic applications. Traditional approaches to deriving these models are based on the application of Lagrangian or Newtonian mechanics. Although these methods provide a good insight into the…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…