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Hybrid motion/force control of multi-backbone continuum robots

Andrea Bajo, Nabil Simaan
2015 The international journal of robotics research  
To advance further the force sensing capabilities of multi-backbone continuum robots, we present a new framework for hybrid motion and force control of continuum robots with intrinsic force sensing capabilities  ...  In this paper, we present the modeling, sensing and control of multi-backbone continuum robots in a unified framework for hybrid motion/force control.  ...  Proposed hybrid motion/force control of multi-backbone continuum robots with intrinsic force sensing.  ... 
doi:10.1177/0278364915584806 fatcat:t56x2knzajg7pp75yyv34x6kuy

A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs

Peng Qi, Chen Qiu, Hongbin Liu, Jian S. Dai, Lakmal D. Seneviratne, Kaspar Althoefer
2016 IEEE/ASME transactions on mechatronics  
There is a surge of research interest in the field of "continuum robotics."  ...  It reduces the uncontrolled compression when generating normal deflections, thus controlling robot bending is simplified.  ...  Meanwhile, soft robotics as a subset of continuum robotics emerged with the development of novel soft actuators and sensors [8] , [9] .  ... 
doi:10.1109/tmech.2015.2498738 fatcat:hw7xt6uykbcptnqvf33e6waw3u

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
2015 Soft Robotics  
This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position  ...  The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty.  ...  Acknowledgments This research was conducted in the Distributed Robotics Laboratory at MIT with support from the National Science Foundation, grant numbers NSF 1117178, NSF IIS1226883, and NSF CCF1138967  ... 
doi:10.1089/soro.2015.0013 pmid:27625916 pmcid:PMC4998948 fatcat:d7ohps7izvglbf6oi4od2b6nwq

Design, fabrication and control of soft robots

Daniela Rus, Michael T. Tolley
2015 Nature  
Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials.  ...  Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies.  ...  This work was done with partial support from the National Science Foundation grant number IIS-1226883. We are grateful.  ... 
doi:10.1038/nature14543 pmid:26017446 fatcat:xwwpejmh4bb7njdsv4a43wpbsq

Control of a hybrid robotic system for computer-assisted interventions in dynamic environments

Gabrijel Smoljkic, Gianni Borghesan, Alain Devreker, Emmanuel Vander Poorten, Benoit Rosa, Herbert De Praetere, Joris De Schutter, Dominiek Reynaerts, Jos Vander Sloten
2015 International Journal of Computer Assisted Radiology and Surgery  
Methods The proposed hybrid robotic system consists of a rigid robot arm on top of which a continuum robot is mounted in series. The continuum robot is locally actuated with McKibben muscles.  ...  Herbert De Praetere is with UZ Leuven, Cardiac surgery, Conclusion The results suggest a good potential for applying the proposed technology to assist the surgeon during complex robot-assisted interventions  ...  Continuum robot -Design and Actuation The continuum robot, depicted in Fig. 3 , is a composite structure actuated with four McKibben muscles (a type of pneumatic artificial muscles, PAM) embedded into  ... 
doi:10.1007/s11548-015-1333-8 pmid:26662203 fatcat:4as7hu6ot5fsrgtwmvy25cmzxa

Position Control for Soft Actuators, Next Steps toward Inherently Safe Interaction

Dongshuo Li, Vaishnavi Dornadula, Kengyu Lin, Michael Wehner
2021 Electronics  
In this approach, we use the continuum deformation characteristic of soft actuators as an advantage for control rather than a problem to be minimized.  ...  With their low cost and complexity, these techniques present great opportunity for soft robots to improve human–robot interaction.  ...  Multisegmented, proximally actuated soft robotic fingers have achieved high precision by pinch grasping [14] .  ... 
doi:10.3390/electronics10091116 fatcat:s2xq2nun7vebjec5b3enagt6gy

Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach

Matteo Cianchetti, Tommaso Ranzani, Giada Gerboni, Thrishantha Nanayakkara, Kaspar Althoefer, Prokar Dasgupta, Arianna Menciassi
2014 Soft Robotics  
Only few research efforts are aimed at developing flexible surgical systems, with many DOFs or even continuum kinematics.  ...  The authors propose a radical change in surgical instrument design: away from rigid tools toward a new concept of soft and stiffness-controllable instruments.  ...  The cylinder is surrounded by a crimped sheath that limits the radial expansion of the chamber when inflated with a fluid enabling an effective and controllable motion of the actuator.  ... 
doi:10.1089/soro.2014.0001 fatcat:pb3madqiszgnrgvgmacwk7gzsm

Parallel Complementary Strategies for Implementing Biological Principles into Mobile Robots

Roger D. Quinn, Gabriel M. Nelson, Richard J. Bachmann, Daniel A. Kingsley, John T. Offi, Thomas J. Allen, Roy E. Ritzmann
2003 The international journal of robotics research  
However, in order to take advantage of these complex designs, we must first solve difficult problems in actuation, proprioception and control.  ...  In one, we have produced a series of robots that have mechanical and control designs increasingly more similar to those of a cockroach.  ...  Acknowledgments This work was supported by the Office of Naval Research (N0014-99-1-0378), DARPA (DAAN02-98-C-4027), JPL and the Air Force (F08630-01-C-0023).  ... 
doi:10.1177/0278364903022003003 fatcat:gljv5a6i6vazdlh4f7zufnjew4

Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy

Kai Xu, Jiangran Zhao, Minxiao Fu
2015 IEEE/ASME transactions on mechatronics  
With possible improvements identified, the SJTU unfoldable robotic system (SURS) for SPL is developed for improved system specifications.  ...  The SURS can be deployed into abdomen through a φ12-mm port in its folded configuration and can then be unfolded for dual-arm surgical interventions with onboard 3-D visual guidance.  ...  ., retraction is not possible with low forces). 4) Actuation modularity shall be enhanced.  ... 
doi:10.1109/tmech.2014.2364625 fatcat:fd5zhe64s5bpfmyuugal76dli4

Soft Robotic Grippers

Jun Shintake, Vito Cacucciolo, Dario Floreano, Herbert Shea
2018 Advanced Materials  
Acknowledgements This work was supported in part by the Swiss National Centre of Competence in Research (NCCR) Robotics, the FLAG ERA RoboCom++ project, and the Hasler Foundation.  ...  There remain many challenges for gripping by actuation, including obtaining sufficient forces, controlling force and force distribution, especially for handling deformable objects.  ...  [3] proposed the concept of soft synergies for the control of an underactuated hand with compliant cables.  ... 
doi:10.1002/adma.201707035 pmid:29736928 fatcat:ysjvdzllnneirolc6hmkxc5k2e

Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability

Junzhi Yu, Cheng Zhang, Lianqing Liu
2016 IEEE/ASME transactions on mechatronics  
On the basis of prior work on a single-motoractuated miniature robotic fish, we mainly stress three aspects: mechanical design, motion analysis, and posture control to strike a tradeoff between speediness  ...  This paper deals with a novel fast swimming robotic fish capable of high maneuverability and yet with less joints.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers and the Technical Editor for their valuable comments and suggestions on revising this paper.  ... 
doi:10.1109/tmech.2016.2517931 fatcat:3phw342zmrfpdnlc5gytenjokq

Swimming like algae: biomimetic soft artificial cilia

S. Sareh, J. Rossiter, A. Conn, K. Drescher, R. E. Goldstein
2012 Journal of the Royal Society Interface  
This actuator is modelled on the cilia movement of the alga Volvox, and represents the cilium as a piecewise constant-curvature robotic actuator that enables the subsequent direct translation of natural  ...  The amenability of the artificial cilia to scaling is also demonstrated through the comparison of the Reynolds number achieved with that of natural cilia.  ...  The contrast between these rigid-segment robots with the continuous flexible structures in nature has also led to the development of soft 'continuum' robots.  ... 
doi:10.1098/rsif.2012.0666 pmid:23097503 pmcid:PMC3565796 fatcat:5ttcsrm6srcvzimyig4c6w7tkm

Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments

Stephen Tully, Andrea Bajo, George Kantor, Howie Choset, Nabil Simaan
2012 2012 IEEE International Conference on Robotics and Automation  
This method is experimentally evaluated with an experiment involving a continuum robot interacting with a bench-top flexible structure.  ...  the environment, and 2) an inequality constrained step for when the robot lies in the freespace of the environment.  ...  robot according to the onboard controller.  ... 
doi:10.1109/icra.2012.6225080 dblp:conf/icra/TullyBKCS12 fatcat:rve4xzjjdbcv5kbfkzxw7bj7vi

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Priyanka Rao, Quentin Peyron, Sven Lilge, Jessica Burgner-Kahrs
2021 Frontiers in Robotics and AI  
Tendon actuation is one of the most prominent actuation principles for continuum robots.  ...  Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.  ...  Actuation of the continuum robot is realized by pulling the tendons which results in bending motions.  ... 
doi:10.3389/frobt.2020.630245 pmid:33604355 pmcid:PMC7885639 fatcat:jnxgbsf4orbcdlp4nlhckdjayy

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

S.M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Brendan Michael, Ludovic Renson, Matthew Howard, Caleb D. Rucker, Kaspar Althoefer, Thrishantha Nanayakkara, Steffen Zschaler, Christos Bergeles, Helmut Hauser (+1 others)
2020 The international journal of robotics research  
A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots.  ...  The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks,  ...  Acknowledgment This work is supported by the Leverhulme Trust Research Project, "Computing with spiders' web", number RPG-2016-345, granted to H. Hauser and F. Volrath; the U.K.  ... 
doi:10.1177/0278364919881685 fatcat:3apqgukvc5gj5n4vr4elyykhqq
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