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SoftHandler: An Integrated Soft Robotic System for Handling Heterogeneous Objects

Franco Angelini, Cristiano Petrocelli, Manuel Catalano, Manolo Garabini, Giorgio Grioli, Antonio Bicchi
2020 IEEE robotics & automation magazine  
SoftHandler Design The SoftHandler is obtained by the combination of a novel soft articulated end effector, the Pisa/IIT SoftGripper, and parallel manipulator equipped with soft actuators, the Soft-Delta  ...  The SoftHandler ( Figure 1 ) integrates a novel parallel soft manipulator, the SoftDelta, and a novel soft end effector, the Pisa/(Istituto Italiano di Tecnologia) IIT SoftGripper.  ... 
doi:10.1109/mra.2019.2955952 fatcat:vlz56f6fnna4tp4qwf4ybnmjsi

Towards in situ Backlash Estimation of Continuum Robots using an Endoscopic Camera

Thibault Poignonec, Philippe Zanne, Benoit Rosa, Florent Nageotte
2020 IEEE Robotics and Automation Letters  
Accurate control of continuum robots requires handling non-linear behaviors between actuators and distal effectors.  ...  Experiments realized on a robotic flexible endoscopy platform (STRAS) show the validity of the approach for estimating in situ the quasi-static behavior of the robot and for compensating the non-linearities  ...  The robot is simulated with a constant 15 • backlash on the bending joint, and a ±1.5 • error on the hand-eye calibration.  ... 
doi:10.1109/lra.2020.3003872 fatcat:qrlm2twzxbdolbndclnnhaoa2u

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 3035-3041 A Novel Flexible Robotic Endoscope With Constrained Tendon-Driven Continuum Mechanism.  ...  ., +, LRA July 2020 4891-4898 A Novel Flexible Robotic Endoscope With Constrained Tendon-Driven Continuum Mechanism.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Hyper Redundant Manipulators [chapter]

Mircea Ivanescu, Dorian Cojocaru
2010 Advanced Strategies for Robot Manipulators  
An elephant's trunk robot is a good descriptor of a continuum robot (Hutchinson, S.; Hager et al., 1996) .  ...  This contrasts with discrete robot devices, which generate movement at independent joints separated by supporting links.  ...  A new application investigates the control problem of a class of hyper-redundant arms with continuum elements that performs the grasping function by coiling.  ... 
doi:10.5772/10188 fatcat:xj3xyvro6fhtdpe6zqx4i3iweq

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

Mindaugas Matukaitis, Renaldas Urniezius, Deividas Masaitis, Lukas Zlatkus, Benas Kemesis, Gintaras Dervinis
2021 Applied Sciences  
This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots.  ...  This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators' motion profiles, synchronized in time.  ...  Related Work The trunk-type tendon robot's control differs from traditional industrial robots, like Cartesian, cylindrical, polar, and SCARA robots, and from robotic arms or parallel delta robots.  ... 
doi:10.3390/app11072946 fatcat:7uzyezzeivcjthiacd7sx6bctu

DEVELOPMENT AND ANALYSIS OF RECONFIGURABLE ROBOTIC END-EFFECTOR FOR MACHINING AND PART HANDLING

Clydene Emmanual Reddy, Jared Padayachee, Glen Bright
2021 South African Journal of Industrial Engineering  
The concept uses a flexible, cable-driven gripper system in conjunction with a compact, lightweight milling system that is capable of machining non-ferrous metals.  ...  The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling.  ...  A novel 3-RRPRR parallel manipulator capable of three translational degrees of freedom resulted in high payload capacity, large workspace, and higher speeds.  ... 
doi:10.7166/32-1-2293 fatcat:hs2ekf55bfb27dyunj4exxuse4

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Tonegawa for his help with the experiments.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Intelligent Approaches in Locomotion - A Review

Joe Wright, Ivan Jordanov
2014 Journal of Intelligent and Robotic Systems  
The reviewed publications examine a range of legged and non-legged systems, operating in simple and complex environments, with several different locomotion tasks.  ...  The parameterisation techniques cover a range of approaches, from simple manual specification to evolutionary algorithms.  ...  As well as creating a stable robot, the authors increased mechanical efficiency by introducing passive joint compliance.  ... 
doi:10.1007/s10846-014-0149-z fatcat:wpzs5i4lsbhxfdgkf5i7ij6xa4

Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

SELÇUK KİZİR, ZAFER BİNGÜL
2019 Turkish Journal of Electrical Engineering and Computer Sciences  
The robotic system can be navigated using a six degrees of freedom (DOF) joystick and a haptic device with force feedback.  ...  Position and trajectory control of the SP in the joint space is achieved using a new model-free intelligent PI (iPI) controller and it is compared with the classical PID (proportional-integral-derivative  ...  robot in which a delta parallel robot was proposed for 3 DOF translation and 2 DOF for rotation and 1 DOF for surgical tool insertion.  ... 
doi:10.3906/elk-1608-145 fatcat:k3fsfu2zwrdh5fckdwubpcuhwm

Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges [article]

Cosimo Della Santina, Christian Duriez, Daniela Rus
2021 arXiv   pre-print
This work aims to introduce the control theorist perspective to this novel development in robotics.  ...  Continuum soft robots are mechanical systems entirely made of continuously deformable elements.  ...  Soft robots under PCC approximation can be seen as a direct extension of serial manipulators with revolute joints to the continuum domain.  ... 
arXiv:2110.01358v1 fatcat:kcykbxwitvgrphuohxdtssrjxm

Decentralized control of insect walking: A simple neural network explains a wide range of behavioral and neurophysiological results

Malte Schilling, Holk Cruse, Samuel J. Gershman
2020 PLoS Computational Biology  
To this end, we introduce a sensor based controller operating on artificial neurons, being applied to a (simulated) insectoid robot required to exploit the "loop through the world" allowing for simplification  ...  We show that such a decentralized solution leads to adaptive behavior when facing uncertain environments which we demonstrate for a broad range of behaviors never dealt with in a single system by earlier  ...  The simulated robot Hector The robot Hector contains six legs with three active joints each and is designed to reflect important aspects of the geometry of stick insects with a scaling factor of 1:20  ... 
doi:10.1371/journal.pcbi.1007804 pmid:32339162 fatcat:7rwllijixzhd7emkd5dwczrrdi

Decentralized Control of Insect Walking - a simple neural network explains a wide range of behavioral and neurophysiological results [article]

Malte Schilling, Holk Cruse
2019 bioRxiv   pre-print
Here, we are introducing a sensor based controller operating on artificial neurons, being applied to a (simulated) hexapod robot with a morphology adapted to Carausius morosus.  ...  walking, negotiation of curves and walking on a treadmill with various treatment of individual legs.  ...  The simulated robot Hector The robot Hector contains six legs with three active joints each and is designed to reflect important aspects of the geometry of stick insects with a scaling factor of 1:20  ... 
doi:10.1101/695189 fatcat:jpu3a5ry25gmlhbsvb23itywfq

Cable-driven parallel mechanisms for minimally invasive robotic surgery

Timo Joric Corman Oude Vrielink, George Mylonas, Ara Darzi, ERANDA Rothschild Foundation
2020
Cable-driven parallel mechanisms (CDPMs) have unique properties, which can be used to overcome existing challenges in surgical robotics.  ...  These advantages, combined with the different access methods, demonstrate that CDPMs can have a key role in the advancement of MIS technology.  ...  A hybrid parallel mechanism for high speed manufacturing is the DeltaBot, a modified conventional delta robot in which the rigid links are replaced by cables.  ... 
doi:10.25560/79835 fatcat:4lymyxbt7jao3emlnrnyx5re4u

Event-Based Motion Segmentation by Motion Compensation [article]

Timo Stoffregen and Guillermo Gallego and Tom Drummond and Lindsay Kleeman and Davide Scaramuzza
2019 arXiv   pre-print
(called "events"), with microsecond resolution.  ...  In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes  ...  for Robot Vision, project #CE140100016.  ... 
arXiv:1904.01293v4 fatcat:2xomwtwrl5euve4wgorv5rbzwi

Robotic manipulators for single access surgery

Piyamate Wisanuvej, Guang-Zhong Yang, Imperial College London, Mahawitthayaalai Kasewtsat
2018
Therefore, an articulated robotic manipulator with passive joints is initially introduced, featuring built-in position and force sensors in each joint and electronic joint brakes for instant lock/release  ...  Therefore, a combination of the fully cooperative robotic manipulator with a high-speed scanning endomicroscopy instrument is presented, simplifying the incorporation of optical biopsy techniques in routine  ...  A master device with a high number of DoFs and active joints is presented in [78] , but its delta structure prevents its use for the joint control of the instruments discussed.  ... 
doi:10.25560/63939 fatcat:toe3zsxrvrhercamxdv6mxspme
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