Related papers: Analysis of Various Manipulator Configurations Bas…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can…
Safety is often the most important requirement in robotics applications. Nonetheless, control techniques that can provide safety guarantees are still extremely rare for nonlinear systems, such as robot manipulators. A well-known tool to…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails…
When robot manipulators decide how to reach for an object, hand it over, or obey some task constraint, they implicitly assume a Euclidean distance metric in their configuration space. Their notion of what makes a configuration closer or…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
Robot manipulators have become a significant tool for production industries due to their advantages in high speed, accuracy, safety, and repeatability. This paper simulates and optimizes the design of a 3-DOF articulated robotic manipulator…
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…