Related papers: Data-Driven Dynamic Modeling of a Tendon-Actuated …
The ability to accurately model mechanical hysteretic behavior in tendon-actuated continuum robots using deep learning approaches is a growing area of interest. In this paper, we investigate the hysteretic response of two types of…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
We study data-driven identification of interpretable hybrid robot dynamics, where an analytical rigid-body dynamics model is complemented by a learned residual torque term. Using symbolic regression and sparse identification of nonlinear…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots,…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic polyurethane (TPU). Our scalable design incorporates an…
Accurate models of mechanical system dynamics are often critical for model-based control and reinforcement learning. Fully data-driven dynamics models promise to ease the process of modeling and analysis, but require considerable amounts of…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages…
The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
Even though artificial muscles have gained popularity due to their compliant, flexible, and compact properties, there currently does not exist an easy way of making informed decisions on the appropriate actuation strategy when designing a…
In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…