Related papers: Rigid chain in parallel kinematic positioning syst…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
Accurate models of mechanical system dynamics are often critical for model-based control and reinforcement learning. Fully data-driven dynamics models promise to ease the process of modeling and analysis, but require considerable amounts of…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
In this work the dynamics of a freely jointed random chain with small masses attached to the joints is studied from a microscopic point of view. The chain is treated using a stringy approach, in which a statistical sum is performed over all…
Blueprint of an in-pipe climbing robot that works with sharp transmissions to study complex line relationships. Standard wheeled/happening pipe climbing robots tend to slide when exploring pipe turns. Instruments help achieve a very…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Automation of hydraulic material handling machinery is currently limited to semi-static pick-and-place cycles. Dynamic throwing motions which utilize the passive joints, can greatly improve time efficiency as well as increase the dumping…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…
Compliant mechanisms are alternatives to conventional mechanisms which exploit elastic strain to produce desired deformations instead of using moveable parts. They are designed for a kinematic task (providing desired deformations) but do…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…