Related papers: Constraint-Free Static Modeling of Continuum Paral…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Pneumatic artificial muscles (PAMs) enable compliant actuation for soft wearable, assistive, and interactive robots. When arranged antagonistically, PAMs can provide variable impedance through co-contraction but exhibit coupled, nonlinear,…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…
We extend ring-polymer molecular dynamics (RPMD) to allow for the direct simulation of general, electronically non-adiabatic chemical processes. The kinetically constrained (KC) RPMD method uses the imaginary-time path-integral…
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…
The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding…
Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
A new equilibrium pressure profile extending the Rigid-Rotor (RR) model with a simple unified expression $P=P(\psi;\beta_{s},\alpha, \sigma)$ for both inside and outside the separatrix is proposed, in which the radial normalized…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…