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Development of a dexterous continuum manipulator for exploration and inspection in confined spaces

Shuntao Liu, Zhixiong Yang, Zhijun Zhu, Liangliang Han, Xiangyang Zhu, Kai Xu
2016 Industrial robot  
Abstract Purpose -Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces.  ...  This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry.  ...  This work was supported in part by the National Natural Science Foundation of China (Grant No. 51375295 and Grant No. 51435010  ... 
doi:10.1108/ir-07-2015-0142 fatcat:kos36ikhw5cc3kbrgijbns77we

Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics

Nabil Simaan, Rashid M. Yasin, Long Wang
2018 Annual Review of Control Robotics and Autonomous Systems  
This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces.  ...  Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port access surgery are discussed, followed by a presentation of works on magnetic actuation,  ...  The opinions expressed in this paper are those of the authors and do not represent the National Science Foundation.  ... 
doi:10.1146/annurev-control-060117-104956 fatcat:irytnewgcremjdk66a3slwwd6q

Continuum Robots for Manipulation Applications: A Survey

Srikanth Kolachalama, Sridhar Lakshmanan
2020 Journal of Robotics  
The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.  ...  This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present).  ...  [163] , developed a tendril robot (Figure 6(a) ) and a robotic manipulator for minimally invasive inspection along with manipulation for space operations [160] [161] [162] [163] [164] [165] [166] [  ... 
doi:10.1155/2020/4187048 fatcat:z5caukxuave5dmzb5uwdj7vusu

The Importance of Continuous and Discrete Elements in Continuum Robots

Lara S. Cowan, Ian D. Walker
2013 International Journal of Advanced Robotic Systems  
Additionally, the incorporation of discrete behaviours (sweeping and striking with the backbone) can both compensate for imprecision in continuum robot control and enable new impulsive manipulation modes  ...  We discuss the implications for the creation and potential application of novel hybrid continuum and discrete robots.  ...  Exploration and Manipulation with Tendril NASA originally designed Tendril for minimally invasive inspection [31] .  ... 
doi:10.5772/55270 fatcat:6iuxsiuhlrgdzlskh5fxgvdjie

Design, kinematics, and control of a soft spatial fluidic elastomer manipulator

Andrew D. Marchese, Daniela Rus
2015 The international journal of robotics research  
In addition, we define a complete fabrication process for this new manipulator and use this process to make multiple functional prototypes.  ...  To understand the deformation of a single arm segment, we develop and experimentally validate a static deformation model.  ...  Acknowledgements We would like to thank Robert Katzschmann for his continual help in brainstorming and troubleshooting as well as for his review of this paper, Jose Lara and Jonathan Lambert for their  ... 
doi:10.1177/0278364915587925 fatcat:fux22icppzdqxfbxozspjyvj3m

An overview of robotics and autonomous systems for harsh environments

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2017 2017 23rd International Conference on Automation and Computing (ICAC)  
Hence, a wide range of robots have been developed and deployed to replace or aid humans in these activities.  ...  Across a wide range of industries and applications, robotics and autonomous systems can fulfil the crucial and challenging tasks such as inspection, exploration, monitoring, drilling, sampling and mapping  ...  A survey of continuum robots was conducted in [39] for broader applications in MIS.  ... 
doi:10.23919/iconac.2017.8082020 dblp:conf/iconac/WongYYG17 fatcat:dgulqodjdnaxhbdapocu6skfve

Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging

H. T. Sen, Nishikant Deshmukh, Roger Goldman, Peter Kazanzides, Russell H. Taylor, Emad Boctor, Nabil Simaan, David R. Holmes III, Kenneth H. Wong
2012 Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling  
The integrated system is used to create elastography images of a spherical isoechoic lesion (approximately 5mm in cross-section) in a tissue-mimicking phantom.  ...  Natural orifice transluminal endoscopic surgery (N.O.T.E.S) is a minimally invasive surgical technique that could benefit greatly from additional methods for intraoperative detection of tissue malignancies  ...  Zinner Fellowship, National Science Foundation (NSF) grant #ISS1063750, Johns Hopkins University internal funds, and by Johns Hopkins University Department of Radiology discretionary funds.  ... 
doi:10.1117/12.912383 dblp:conf/miigp/SenDGKTBS12 fatcat:gm5r7lguvzaq5onjf6y2dm6xc4

Robot-Assisted Glovebox Teleoperation for Nuclear Industry

Ozan Tokatli, Pragna Das, Radhika Nath, Luigi Pangione, Alessandro Altobelli, Guy Burroughes, Emil T. Jonasson, Matthew F. Turner, Robert Skilton
2021 Robotics  
This work presents the challenges of robotic and AI solutions for nuclear gloveboxes, and introduces a step forward for bringing cutting-edge technology to gloveboxes.  ...  The problem statement and challenges are highlighted and then an integrated demonstrator is proposed for robotic handling in nuclear gloveboxes for nuclear material handling.  ...  Conflicts of Interest: The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results  ... 
doi:10.3390/robotics10030085 fatcat:agbayva6hne7bfo3z733vanuae

Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

Long Qin, Fanghao Huang, Zheng Chen, Wei Song, Shiqiang Zhu
2020 Applied Sciences  
Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc.  ...  However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10228031 fatcat:xmjjnsayrnh2th32k2ienf7nf4

A Suite of Robotic Solutions for Nuclear Waste Decommissioning

Ivan Vitanov, Ildar Farkhatdinov, Brice Denoun, Francesca Palermo, Ata Otaran, Joshua Brown, Bukeikhan Omarali, Taqi Abrar, Miles Hansard, Changjae Oh, Stefan Poslad, Chen Liu (+4 others)
2021 Robotics  
This paper overviews work by researchers at the QMUL Centre for Advanced Robotics (ARQ), a partner in the UK EPSRC National Centre for Nuclear Robotics (NCNR), a consortium working on the development of  ...  Increasingly, robots are being developed to carry out complex tasks such as perceiving, grasping, cutting, and manipulating waste.  ...  A technique for online classification has also been developed, allowing for surface exploration in real time.  ... 
doi:10.3390/robotics10040112 fatcat:hyvqdx4hyjen3hmr5723ahws2a

Development of a Tendon Driven Variable Stiffness Continuum Robot with Layer Jamming [article]

Zhong Ouyang
2019 arXiv   pre-print
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology  ...  Furthermore, the new arm prototype supports motion within a 3-dimensional space.  ...  Small diameter and high dexterity allow continuum robots to work within in extremely confined spaces.  ... 
arXiv:1912.04473v1 fatcat:yrw4j7owprczbn5og2w36w2rne

Preclinical Performance Evaluation of a Robotic Endoscope for Non-Contact Laser Surgery

D. Kundrat, R. Graesslin, A. Schoob, D. T. Friedrich, M. O. Scheithauer, T. K. Hoffmann, T. Ortmaier, L. A. Kahrs, P. J. Schuler
2020 Annals of Biomedical Engineering  
Accuracy and usability of the integrated platform bear potential for dexterous laser manipulation in clinical settings. Cadaver and in vivo animal studies may translate ex vivo findings.  ...  The robotic design comprises an extensible continuum manipulator with multifunctional tip. The latter features laser optics, stereo vision, and illumination.  ...  This work describes implementation and performance evaluation of an alternative robotic platform for ablation in confined anatomy based on an extensible continuum robot.  ... 
doi:10.1007/s10439-020-02577-y pmid:32785862 fatcat:wxu4xljil5d5zpdrzmq2qmii5m

Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm [article]

Róbert Szász, Mike Allenspach, Minghao Han, Marco Tognon, Robert. K. Katzschmann
2021 arXiv   pre-print
We propose a unified model for the flying manipulator based on three modeling principles: the Piecewise Constant Curvature (PCC) and Augmented Rigid Body Model (ARBM) hypotheses for modeling soft continuum  ...  Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics.  ...  ACKNOWLEDGMENT We are grateful for Ing. Róbert Szász Sr.'s support in editing the video material accompanying this paper.  ... 
arXiv:2111.03111v1 fatcat:a42wsfn37nc67l7uly72xmqht4

Octopus‐Inspired Soft Arm with Suction Cups for Enhanced Grasping Tasks in Confined Environments

Barbara Mazzolai, Alessio Mondini, Francesca Tramacere, Gianluca Riccomi, Ali Sadeghi, Goffredo Giordano, Emanuela Del Dottore, Massimiliano Scaccia, Massimo Zampato, Stefano Carminati
2019 Advanced Intelligent Systems  
objects in confined spaces of unknown shapes and sizes.  ...  The enhanced holding force (up to 3.3 N, %3.9 times arm weight) and a wide spectrum of objects negotiable by the arm make it a universal tool for object retrieval in confined spaces and wet conditions.  ...  Conflict of Interest The authors declare no conflict of interest.  ... 
doi:10.1002/aisy.201900041 fatcat:omdfffjkzjborbgolstndupsky

Table of Contents

2020 IEEE Robotics and Automation Letters  
Zhang 3082 Development of Visible Manipulator With Multi-Gear Array Mechanism for Laparoscopic Surgery . , and M.  ...  Liu 1867 A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha
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