Related papers: Optimal Design of Continuum Robots with Reachabili…
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…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
Robotic exoskeletons can enhance human strength and aid people with physical disabilities. However, designing them to ensure safety and optimal performance presents significant challenges. Developing exoskeletons should incorporate specific…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Optimizing gait stability for legged robots is a difficult problem. Even on level surfaces, effectively traversing across different textures (e.g., carpet) rests on dynamically tuning parameters in multidimensional space. Inspired by…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
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…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
This paper focuses on the optimal design of a tendon-driven continuum robot (TDCR) based on its feasible static workspace (FSW). The TDCR under consideration is a two-segment robot driven by eight tendons, with four tendon actuators per…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
A configuration design problem in mechanical engineering involves finding an optimal assembly of components and joints that realizes some desired performance criteria. Such a problem is a discrete, constrained, and black-box optimization…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…