Related papers: Design, fabrication and control of a cable-driven …
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is 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 is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
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…
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,…
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand such compact and lightweight designs. This paper considers…
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…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
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…
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…
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape.…
This paper introduces the task of {\em Planar Robot Casting (PRC)}: where one planar motion of a robot arm holding one end of a cable causes the other end to slide across the plane toward a desired target. PRC allows the cable to reach…
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…