相关论文: A Hybrid Cable-Driven Robot for Non-Destructive Le…
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…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
Plants need regular and the appropriate amount of watering to thrive and survive. While agricultural robots exist that can spray water on plants and crops such as the , they are expensive and have limited mobility and/or functionality. We…
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
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…
Artificial intelligence has significantly advanced the automation of diagnostic processes, benefiting various fields including agriculture. This study introduces an AI-based system for the automatic diagnosis of urban street plants using…
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
Smart farming is a growing field as technology advances. Plant characteristics are crucial indicators for monitoring plant growth. Research has been done to estimate characteristics like leaf area index, leaf disease, and plant height.…
Common remote sensing modalities (RGB, multispectral, hyperspectral imaging or LiDAR) are often used to indirectly measure crop health and do not directly capture plant stress indicators. Commercially available direct leaf sensors are…
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…
Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use can induce mechanical fatigue from plastic deformation and…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
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,…
Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven…
As the agricultural workforce declines and labor costs rise, robotic yield estimation has become increasingly important. While unmanned ground vehicles (UGVs) are commonly used for indoor farm monitoring, their deployment in greenhouses 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…
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…