相关论文: Kinematics & Dynamics Library for Baxter Arm

Unmanned aerial vehicles are rapidly evolving within the field of robotics. However, their performance is often limited by payload capacity, operational time, and robustness to impact and collision. These limitations of aerial vehicles…

The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can…

The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…

Considering the difficulty of students in calculating the direct and inverse kinematics of a robotic manipulator using only conventional tools of a classroom, this article proposes the application of Project Based Learning (ABP) through the…

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…

This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our…

In this paper, we present a nonlinear analysis software toolkit, which can help in biomechanical gait data analysis by implementing various nonlinear statistical analysis algorithms. The toolkit is proposed to tackle the need for an…

Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…

Socially assistive robots are increasingly being designed to interact with humans in various therapeutical scenarios. We believe that one useful scenario is providing exercise coaching for Persons with Dementia (PwD), which involves unique…

Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…

Training generalist agents capable of solving diverse tasks is challenging, often requiring large datasets of expert demonstrations. This is particularly problematic in robotics, where each data point requires physical execution of actions…

In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…

Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…

As technology progresses, industrial and scientific robots are increasingly being used in diverse settings. In many cases, however, programming the robot to perform such tasks is technically complex and costly. To maximize the utility of…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

Even though artificial muscles have gained popularity due to their compliant, flexible, and compact properties, there currently does not exist an easy way of making informed decisions on the appropriate actuation strategy when designing a…

This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…

The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…

Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical…

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…