Related papers: Design of a Parallel Elastic Actuator with a Conti…
Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
Twisted and coiled polymer actuators (TCPAs) offer the advantages of large stroke and large specific work as compared to other actuators. There have been extensive experimental investigations towards understanding their actuation response,…
Edge AI is often framed as model compression and deployment under tight constraints. We argue a stronger operational thesis: Edge AI in realistic deployments is necessarily adaptive. In long-horizon operation, a fixed (non-adaptive)…
Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
A recent paper by Gislason published in Am. J. Phys. deals with the celebrated example of the so-called "adiabatic piston", a system involving two ideal gases contained in a horizontal cylinder and separated by an insulating piston that…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Thin dielectric elastomer actuator (DEA) features a unique in-plane configuration, enabling low-profile designs capable of accessing millimetre-scale narrow spaces. However, most existing DEA-powered soft robots require high voltages and…
Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii,…
The joint transmit and pinching beamforming design for spectral efficiency (SE) and energy efficiency (EE) tradeoff in pinching-antenna systems (PASS) is proposed, under practical channel and energy consumption models. In the single-user…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…
Electrification, a key strategy in combating climate change, is transforming industries, and off-highway machines (OHM) will be next to transition from combustion engines and hydraulic actuation to sustainable fully electrified machines.…
The Equi-Energy Sampler (EES) introduced by Kou et al [2006] is based on a population of chains which are updated by local moves and global moves, also called equi-energy jumps. The state space is partitioned into energy rings, and the…
Neural networks that are equivariant to rotations, translations, reflections, and permutations on n-dimensional geometric space have shown promise in physical modeling for tasks such as accurately but inexpensively modeling complex…