Related papers: Stiffness-based Analytic Centre Method for Cable-D…
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,…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However,…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
In this study, a new approach based on adaptive dynamic programming (ADP) is proposed to control permanent magnet synchronous motors (PMSMs). The objective of this paper is to control the torque and consequently the speed of a PMSM when an…
Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation methods either assume constant curvature or rely on…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous,…
This paper presents a new stiffness modulation mechanism that enables infinite-range stiffness modulation in a fast manner. The proposed stiffness modulation mechanism can help improve many robot environment interaction applications such as…
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
Finding central nodes is a fundamental problem in network analysis. Betweenness centrality is a well-known measure which quantifies the importance of a node based on the fraction of shortest paths going though it. Due to the dynamic nature…
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases.…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
Deep Reinforcement Learning (DRL) has recently been proposed as a methodology to discover complex Active Flow Control (AFC) strategies [Rabault, J., Kuchta, M., Jensen, A., Reglade, U., & Cerardi, N. (2019): "Artificial neural networks…