相关论文: Forward Kinematics Analysis and Tension Distributi…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances…
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…
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…
Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Tractor-trailer wheeled robots need to perform comprehensive perception tasks to enhance their operations in areas such as logistics parks and long-haul transportation. The perception of these robots faces three major challenges: the…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
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,…
In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…