相关论文: Cable-Driven Actuation for Highly Dynamic Robotic …
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
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…
Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…
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…
Robots have been critical instruments to space exploration by providing access to environments beyond human limitations. Jumping robot concepts are attractive solutions to negotiate complex terrain. However, among the engineering challenges…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This design incorporates several new features, such as the use of a…
Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been…
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…
CAFEs (Collaborative Agricultural Floating End-effectors) is a new robot design and control approach to automating large-scale agricultural tasks. Based upon a cable driven robot architecture, by sharing the same roller-driven cable set…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…
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…
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,…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
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…