Related papers: Workspace Analysis and Optimal Design of Cable-Dri…

Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…

Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…

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,…

Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…

This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…

This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…

Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

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…

A computer model can be used for predicting an output only after specifying the values of some unknown physical constants known as calibration parameters. The unknown calibration parameters can be estimated from real data by conducting…

Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…

This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…

A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…

Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…

The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…