相关论文: Simplified Kinematics of Continuum Robot Equilibri…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
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…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Often, robots are asked to execute primitive movements, whether as a single action or in a series of actions representing a larger, more complex task. These movements can be learned in many ways, but a common one is from demonstrations…
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can…
Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
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)…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
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…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low…
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…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…