Related papers: Design and Modeling of a HASEL Actuator-Based Micr…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
This paper presents a hetero-associative sequential memory system for mobile manipulators that learns compact, neuromorphic bindings between robot joint states and tactile observations to produce step-wise action decisions with low compute…
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks…
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…
In recent years, the medical industry has witnessed a growing interest in minimally invasive procedures, with magnetic microrobots emerging as a promising approach. These micro-robots possess the ability to navigate through various media,…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
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…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Teleoperation plays a critical role in intuitive robot control and imitation learning, particularly for complex tasks involving mobile manipulators with redundant degrees of freedom (DoFs). However, most existing master controllers are…