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Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Inderjeet Singh, Othman Lakhal, Yacine Amara, Vincent Coelen, Pushparaj Mani Pathak, Rochdi Merzouki
2017 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Inverse Kinematic Model (IKM) is very crucial for real-time control of a robot for any application. Computing the IKM of continuum manipulators is a challenging task.  ...  In this paper, two quantitative approaches based on Newton Raphson iterative method and Damped Least Square method, are proposed for Compact Bionic Handling Assistant (CBHA) manipulator to solve inverse  ...  Dirk Pensky from Festo Didactic company in Denkendorf (Germany) for their technical assistance and support on RobotinoXT.  ... 
doi:10.1109/robio.2017.8324428 dblp:conf/robio/SinghLACPM17 fatcat:hpz5jw5twbesbg2uc4vu55bvde

Qualitative approach for forward kinematic modeling of a Compact Bionic Handling Assistant trunk

2014 IFAC Proceedings Volumes  
This paper addresses the forward kinematic model of a class of hyper-redundant continuum robot, namely Compact Bionic Handling Assistant (CBHA).  ...  A comparison of both qualitative approaches with a quantitative geometric approach, according to the model accuracy is given at the end of the experiment.  ...  ACKNOWLEDGEMENTS The authors gratefully acknowledge the company Festo Didactic of Germany, which is supporting this work.  ... 
doi:10.3182/20140824-6-za-1003.01758 fatcat:6egs3sklbbbfldact37toxuziu

A multi-level control architecture for the bionic handling assistant

M. Rolf, K. Neumann, J.F. Queißer, R.F. Reinhart, A. Nordmann, J.J. Steil
2015 Advanced Robotics  
The Bionic Handling Assistant is one of the largest soft continuum robots and very special in being a pneumatically operated platform that is able to bend, stretch, and grasp in all directions.  ...  of analytic models.  ...  Queißer was funded by the DFG, Cluster of Excellence 277 Cognitive Interaction Technology, R. F. Reinhart and K.  ... 
doi:10.1080/01691864.2015.1037793 fatcat:nx2ikz3225etlhixogqxydlmxq

Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †

René Reinhart, Zeeshan Shareef, Jochen Steil
2017 Sensors  
The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms  ...  Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics.  ...  Author Contributions: F.R., Z.S. and J.S. conceived and designed the experiments and develop the hybrid modeling approach, F.R. and Z.S. performed the experiments with the soft-robot and the LWR, respectively  ... 
doi:10.3390/s17020311 pmid:28208697 pmcid:PMC5336126 fatcat:y4fldaxd7fhc7j254oaq6fod6i

A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Ibrahim Tijjani, Shivesh Kumar, Melya Boukheddimi
2022 Applied Sciences  
Then, these designs are studied from design, modeling, and control viewpoints. Finally, a discussion on future research directions is provided.  ...  This paper presents a survey on the design and control of lower extremity exoskeletons for bipedal walking.  ...  Model-Free Control The model-free control scheme uses the trial-and-error learning method without having an analytical model of the system to evaluate its control performance.  ... 
doi:10.3390/app12052395 fatcat:skogwlcvijerpeuagfku4dam5q

Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators

Thor Morales Bieze, Frederick Largilliere, Alexandre Kruszewski, Zhongkai Zhang, Rochdi Merzouki, Christian Duriez
2018 Soft Robotics  
Finite element method-based kinematics and closed-loop control of soft, continuum manipulators. soft robotics, Mary Ann Liebert, Inc., In press. hal-01745625 The authors are affiliated to  ...  This research was part of the project COMOROS supported by ANR (Tremplin-ERC) and the Conseil Régional Hautde-France and the European Union through the European Regional Development Fund (ERDF).  ...  (cables) controlled in position, • The Compact Bionic Handling Assistant (CBHA).  ... 
doi:10.1089/soro.2017.0079 pmid:29658827 fatcat:7trye3xlnndcjjfm6wfsguo4fi

Development of an Anthropomorphic Gripping Manipulator: The Analysis of Implementation Methods

Ivan Vladimirovich Krechetov, Arkady Alekseevich Skvortsov, Pavel Sergeevich Lavrikov
2015 American Journal of Applied Sciences  
Using Matlab a mathematical model was created which describe the dynamics and kinematics of the future prototype.  ...  For the visualization of the modeling process and the creation of a virtual surround space a mathematical model in Gazebo was developed.  ...  identifier of the agreement: RFMEFI57714X0136); the grant is provided to perform the applied research on the topic: "Development of a universal gripping device for performing anthropomorphic type contact  ... 
doi:10.3844/ajassp.2015.865.874 fatcat:2oijgnhgnjfkle7utrhdo6ddpa

Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Julien Bosman, Thor Morales Bieze, Othman Lakhal, Mario Sanz, Rochdi Merzouki, Christian Duriez
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot that is compatible with the modeling of a sequence of rigid vertebras.  ...  The factor of improvement in the computation time reaches several order of magnitude compared to a classical FEM model, while keeping a good precision.  ...  Finally, some numerical examples are presented in the simulation, and we have conducted an experiment on a special class of continuum robot based on intrinsic pneumatic actuation: the Compact Bionic Handling  ... 
doi:10.1109/icra.2015.7139803 dblp:conf/icra/BosmanBLSMD15 fatcat:bhrflrribzbz7frwygldg3hmhq

Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots [chapter]

Weihai Chen, XiaoQi Chen, Jingmeng Liu, Jianbin Zhang
2009 Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions  
It then discusses the design of bionic mechanism using parallel kinematics and spring joints in offering a realisable approach to emulate the functions of cockroach legs.  ...  Secondly, establish a model to finalise biorobot performance analysis and obtain test data in order to improve biorobot system design performance, economize physical prototype, finalise the design and  ... 
doi:10.5772/6990 fatcat:t64jwp5esvb7jhf2ied2krw37i

Recent Progress in Modeling and Control of Bio-Inspired Fish Robots

Boai Sun, Weikun Li, Zhangyuan Wang, Yunpeng Zhu, Qu He, Xinyan Guan, Guangmin Dai, Dehan Yuan, Ang Li, Weicheng Cui, Dixia Fan
2022 Journal of Marine Science and Engineering  
Multi-phase robots provide a broader scope of application compared to ordinary bionic robot fish, with the ability of operating in air or on land outside the fluid.  ...  model with the intersection of multiple machine learning algorithms.  ...  networks to learn forward and inverse kinematic models of the manipulator.  ... 
doi:10.3390/jmse10060773 fatcat:jibo347ecndvnmmsbkefv4yc6y

A Mechatronic Perspective on Robotic Arms and End-Effectors [chapter]

Pinhas Ben-Tzvi, Paul Moubarak
2011 Intelligent Mechatronics  
A critical requirement for the ideal operation of the inverse dynamics approach is an exact model of the arm and the hand.  ...  A method, known as inverse dynamics (Khalil & Guegan, 2004) , exists in which the linearization of the model is possible.  ...  It is simultaneously a monograph because it presents several new results and ideas and further developments and explanation of existing algorithms which are brought together and published in the book for  ... 
doi:10.5772/16234 fatcat:cfdud4wkgzg3rmz4ive2jpbtfi

Joint-Space Kinematic Control of a Bionic Continuum Manipulator in Real-time by using Hybrid Approach

Mrunal Kanti Mishra, Arun Kumar Samantaray, Goutam Chakraborty
2022 IEEE Access  
This research is partly funded by Indo French Centre for the Promotion of Advanced Research (IFCPAR), under DST (India) and CNRS (France) Collaboration for the project "Modelling and control of mobile  ...  cooperating bionic arms" vide grant number DST-CNRS 2015-02.  ...  A hybrid method for the evaluation of IK of compact bionic handling assistant is proposed in [36] . In [26] , a feed-forward NN model is used to approximate the inverse solution of a BCM.  ... 
doi:10.1109/access.2022.3171236 fatcat:2osulv3edfhczl6osdmhvcoooe

A Survey for Machine Learning-Based Control of Continuum Robots

Xiaomei Wang, Yingqi Li, Ka-Wai Kwok
2021 Frontiers in Robotics and AI  
control performances.  ...  In this article, we attempt to overview the current state of kinematic/dynamic model-free control schemes for continuum manipulators, particularly by learning-based means, and discuss their similarities  ...  This thought has been validated on the simulation of a bionic handling assistant (BHA) robot (Rolf and Steil, 2013) .  ... 
doi:10.3389/frobt.2021.730330 pmid:34692777 pmcid:PMC8527450 fatcat:p4yeo5jqajfhphzsdbiu746swa

A Review on Design of Upper Limb Exoskeletons

Muhammad Ahsan Gull, Shaoping Bai, Thomas Bak
2020 Robotics  
Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research.  ...  The technology promises to improve the upper-limb functionalities required for performing activities of daily living.  ...  Moreover, a kinematic model of a human arm was developed to analyze the mutual compatibility of both systems.  ... 
doi:10.3390/robotics9010016 fatcat:5iiax7tq6rgszcnaqsadfssszm

Goal-directed learning of hand-eye coordination in a humanoid robot

Mathias Schmerling, Guido Schillaci, Verena V. Hafner
2015 2015 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)  
Goal babbling has been shown to be superior to the classical idea of random motor babbling for the learning of body kinematics in robotic systems, in particular for systems with many degrees of freedom  ...  Visuo-motor coordination is known to be highly important for the development of a broader range of cognitive and motor skills in human infants and can thus be considered one of the key skills for robots  ...  To mention a few, Rolf & Steil [7] demonstrated how goal-directed exploration of the task space enables successful learning of the inverse function on a challenging robot platform, the Bionic Handling  ... 
doi:10.1109/devlrn.2015.7346136 dblp:conf/icdl-epirob/SchmerlingSH15 fatcat:ej6j55is2rcsxicnjgsn3mqrlm
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