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In the construction industry, traditional methods fail to meet the modern demands for efficiency and quality. The curtain wall installation is a critical component of construction projects. We design a hydraulically driven robotic arm for…
In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
Nowadays, electric robots play big role in many fields as they can replace humans and/or decrease the amount of load on humans. There are several types of robots that are present in the daily life, some of them are fully controlled by…
Rigid body dynamics is a key technology in the robotics field. In trajectory optimization and model predictive control algorithms, there are usually a large number of rigid body dynamics computing tasks. Using CPUs to process these tasks…
A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the…
Mobile soft robots offer compelling applications in fields ranging from urban search and rescue to planetary exploration. A critical challenge of soft robotic control is that the nonlinear dynamics imposed by soft materials often result in…
Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…
Many studies simulates the machining process by using a single degree of freedom spring-mass sytem to model the tool stiffness, or the workpiece stiffness, or the unit tool-workpiece stiffness in modelings 2D. Others impose the tool action,…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Individualized manufacturing of cars requires kitting: the collection of individual sets of part variants for each car. This challenging logistic task is frequently performed manually by warehouseman. We propose a mobile manipulation…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
Background Analyzing kinematic and video data can help identify potentially erroneous motions that lead to sub-optimal surgeon performance and safety-critical events in robot-assisted surgery. Methods We develop a rubric for identifying…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
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…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances in enabling technologies such as sensing, learning,…
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…