相关论文: Open-Source Software Architecture for Multi-Robot …
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Additive manufacturing (AM) techniques hold promise but face significant challenges in process planning and optimization. The large temporal and spatial variations in temperature that can occur in layer-wise AM lead to thermal excursions,…
Assembly systems constitute one of the most important fields in today industry. In this paper we propose an open distributed architecture for the engineering of evolvable flexible hybrid assembly systems. The proposed architecture is based…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
In-situ monitoring incorporating data from visual and other sensor technologies, allows the collection of extensive datasets during the Additive Manufacturing (AM) process. These datasets have potential for determining the quality of the…
Robotics poses a challenge for software engineering as the vast numbers of different robot platforms impose different requirements on robot control architectures. The platform dependent development of robotic applications impedes…
The exponential increase in the number of devices connected to the internet globally has led to the requirement for the introduction of better and improved security measures for maintaining data integrity. The development of a wireless and…
Geometric modelling has been a crucial component of the design process ever since the introduction of the first Computer-Aided Design (CAD) systems. Additive Manufacturing (AM) pushes design freedom to previously unachievable limits. AM…
We developed a 3D end-effector type of upper limb assistive robot, named as Assistive Robotic Arm Extender (ARAE), that provides transparency movement and adaptive arm support control to achieve home-based therapy and training in the real…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
The quality of the part fabricated from the Additive Manufacturing (AM) process depends upon the process parameters used, and therefore, optimization is required for apt quality. A methodology is proposed to set these parameters…
Primary motivation for this work was the need to implement hardware accelerators for a newly proposed ANN structure called Auto Resonance Network (ARN) for robotic motion planning. ARN is an approximating feed-forward hierarchical and…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Due to the wide diffusion of 3D printing technologies, geometric algorithms for Additive Manufacturing are being invented at an impressive speed. Each single step, in particular along the Process Planning pipeline, can now count on dozens…
An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated…
We present the Locally Adaptive Morphable Model (LAMM), a highly flexible Auto-Encoder (AE) framework for learning to generate and manipulate 3D meshes. We train our architecture following a simple self-supervised training scheme in which…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…