Related papers: Continuous Collision Detection for a Robotic Arm M…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advantage of symmetries in the configuration space of multi-robot…
Cable-Driven Parallel Robots (CDPRs) are a kind of parallel robots that have cables instead of rigid links. Implementing vision-based control on CDPRs leads to a good final accuracy despite modeling errors and other perturbations in the…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…
In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Collaborative robots could transform several industries, such as manufacturing and healthcare, but they present a significant challenge to verification. The complex nature of their working environment necessitates testing in realistic…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…