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Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots [article]

Fabio Bergonti, Gabriele Nava, Luca Fiorio, Giuseppe L'Erario, Daniele Pucci
2022 arXiv   pre-print
Finally, we present control algorithms that allow the cover to morph into a time-varying shape.  ...  We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a humanoid robot.  ...  This article proposes a concept of morphing covers for humanoid robots and addresses the associated fundamental problems of kinematic modeling, actuation positioning, and control design of the morphing  ... 
arXiv:2207.01025v1 fatcat:tsouo654bvgn7ifan4tmcgfpay

Soft robotics: a bioinspired evolution in robotics

Sangbae Kim, Cecilia Laschi, Barry Trimmer
2013 Trends in Biotechnology  
These robots are differentiated from other approaches in which the machines are built using hard materials and compliance is achieved using variable-stiffness actuators and compliant control [3] .  ...  These caterpillar-like robots demonstrate an important attribute of highly deformable devices: they can morph to exploit other body shapes.  ... 
doi:10.1016/j.tibtech.2013.03.002 pmid:23582470 fatcat:wvdjtyb5nrgvlboniowfajccsi

A Geometric Kinematic Model for Flexible Voxel-Based Robots [article]

Maryam Tebyani, Alex Spaeth, Nicholas Cramer, Mircea Teodorescu
2021 arXiv   pre-print
The derived Planes of Motion (POM) model can be equivalently used for forward and inverse kinematics, as demonstrated by the design of a tripod stable gait for a locomotive voxel robot and validation of  ...  To engage these structures for robotic tasks, we use a finite element method to characterize the motion caused by deforming single degrees of freedom and develop a reduced kinematic model.  ...  Acknowledgements The authors would like to acknowledge the technical support of the Braingeneers research group as well as a donation made possible by Eric and Wendy Schmidt by recommendation of the Schmidt  ... 
arXiv:2108.09442v1 fatcat:gdxnt7vhw5av5khvhi7lwzvlu4

Snake Robots for Surgical Applications: A Review

Jenna Seetohul, Mahmood Shafiee
2022 Robotics  
For a smoother gait control, validation and optimization algorithms such as deep learning databases are examined to mitigate redundancy in module linkage backlash and accidental self-collision.  ...  We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon's task.  ...  This is greatly reduced by the linear backlash compensation algorithm. which sets a constant value for feed-forward locomotion and is tracked by the 3D Guidance trakSTAR electromagnetic tracker [19] .  ... 
doi:10.3390/robotics11030057 fatcat:vgpup2mp2vg65ikna66z4vzzsa

Underwater Soft Robotics: A Review of Bioinspiration in Design, Actuation, Modeling, and Control

Samuel M. Youssef, MennaAllah Soliman, Mahmood A. Saleh, Mostafa A. Mousa, Mahmoud Elsamanty, Ahmed G. Radwan
2022 Micromachines  
Nature and biological creatures are some of the main sources of inspiration for humans. Engineers have aspired to emulate these natural systems.  ...  As rigid systems become increasingly limited in their capabilities to perform complex tasks and adapt to their environment like living creatures, the need for soft systems has become more prominent due  ...  Low-level controllers drive the actuators, whereas mid-level ones are responsible for the kinematic and dynamic control, and high-level control involves advanced trajectory and path planning for tasks  ... 
doi:10.3390/mi13010110 pmid:35056275 pmcid:PMC8778375 fatcat:xaat35ldvnfqhdx6tduerrmuuu

Modular and reconfigurable mobile robotics

Paul Moubarak, Pinhas Ben-Tzvi
2012 Robotics and Autonomous Systems  
a starting ground for innovation and integration of such technology in the urban environment.  ...  This paper reviews the primary methods in the literature related to the fields of modular and reconfigurable mobile robotics.  ...  This coordinated mobility is controlled by an efficient planning algorithm for shape metamorphosis. B.  ... 
doi:10.1016/j.robot.2012.09.002 fatcat:vohwjoftv5d6djw56zjg4ylh6q

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Bass, J., +, LRA Oct. 2020 5850-5857 Shape-Morphing Wheel Design and Analysis for Step Climbing in High Speed Locomotion.  ...  ., +, LRA July 2020 4233-4240 Linear programming A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Current trends in reconfigurable modular robots design

Alberto Brunete, Avinash Ranganath, Sergio Segovia, Javier Perez de Frutos, Miguel Hernando, Ernesto Gambao
2017 International Journal of Advanced Robotic Systems  
These features are reconfiguration, docking, degrees of freedom, locomotion, control, communications, size, and powering.  ...  For each feature, some of the most relevant designs are presented and the current trends in the design are discussed.  ...  the Robohealth Project supported by the Spanish National Plan for Scientific and Technical Research and Innovation, DPI2013-47944-C4-2-R.  ... 
doi:10.1177/1729881417710457 fatcat:pvbdgv3mjbbk5nx6dchxdvqfyi

Past, Present, and Future of Aerial Robotic Manipulators

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi
2021 IEEE Transactions on robotics  
It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning.  ...  This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with  ...  The robot exploits its morphing capability for P&P operations. It can grasp objects of different shapes properly adapting its configuration [104] .  ... 
doi:10.1109/tro.2021.3084395 fatcat:r5vnwmw4gndfxcpzo6h6awuqea

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators Using Spatial Representation of Twists.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TRO Dec. 2021 1956-1972 Control systems Controllability and Stabilization for Herding a Robotic Swarm Using a Identification A Actuators A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
Control and Design of a BLDC Actuator for Robotics.  ...  ., +, LRA Jan. 2019 97-104 Soft Robot Actuation Strategies for Locomotion in Granular Substrates.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

From Bioinspiration to Computer Generation: Developments in Autonomous Soft Robot Design

Joshua Pinskier, David Howard
2021 Advanced Intelligent Systems  
of soft grasping and soft locomotion, soft robots have the potential to revolutionize robotics operating in uncertain, confined, and fragile environments, for example, fruit picking, human assistance,  ...  Typically, a gradient-based algorithm optimizes the geometry, materials, or actuation within specified bounds. [5] While these create  ...  A reusable method is needed which can optimize material properties, actuation, morphology, and control for any task.  ... 
doi:10.1002/aisy.202100086 fatcat:jlazieflsjdy3gwydrc5u4vq2u

Table of Contents

2020 IEEE Robotics and Automation Letters  
Okamoto, and Y. Kawahara 4180 Design of an Electromagnetic Actuator for an Insect-Scale Spinning-Wing Robot . . . . . . . . . . . P. Bhushan and C.  ...  Liu 4218 ModMan: An Advanced Reconfigurable Manipulator System With Genderless Connector and Automatic Kinematic Modeling Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.3007680 fatcat:mdynlxjpv5hi7h2pvu4c3md2de

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Kejun Hu, Kanty Rabenorosoa, Morvan Ouisse
2021 Frontiers in Robotics and AI  
design tools that can be applied to origami robots in order to achieve shape-changing.  ...  Afterward, the actuators' design methods, sensing, and controlling strategies are discussed. Finally, open challenges are discussed.  ...  (E) A "shape switching" module with controllable stiffness (Kim J. et al., 2015) . (F) A "2D → 3D" shape-morphing system .  ... 
doi:10.3389/frobt.2021.678486 fatcat:wtbcoxnlcbd3jjupyvqljl43b4
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