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Experimental Verification of Vibration Control of a Flexible Arm for REX-J Robotic Demonstration on JEM

Daichi HIRANO, Kazuya YOSHIDA, Mitsushige ODA, Hiroki NAKANISHI
This paper discusses the dynamics and control of an extendable arm for tether-based mobile robots on the International Space Station (ISS).  ...  and attaches them to holding points.  ...  Acknowledgments This research was partially supported by a Grant-in-Aid for JSPS Fellows (23-6651).  ... 
doi:10.2322/tastj.10.pd_27 fatcat:5pyf7rjix5a4vocdonqpdtjpve

Planning coordinated motions for tethered planar mobile robots [article]

Xu Zhang, Quang-Cuong Pham
2019 arXiv   pre-print
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable.  ...  Here, we are interested in the motion planning problem: how to plan and coordinate the robot motions to realize a given non-intersecting target cable configuration.  ...  The authors would like to thank Hung Pham, Teguh Santoso Lembono and Lim Jian Hui for their constructive remarks on earlier versions of the manuscript, Lim Jian Hui and Panda Biranchi for their helps with  ... 
arXiv:1905.07873v1 fatcat:3odeek77rferbcmihqjmcp7nxe

The ACROBOTER Platform – Part 1: Conceptual Design and Dynamics Modeling Aspects [chapter]

László L. Kovács, Ambrus Zelei, László Bencsik, Gábor Stépán
2011 IUTAM Bookseries  
The ACROBOTER platform extends the workspace of these robots to the whole cubic volume of the indoor environment by utilizing the ceiling for planar movements.  ...  The cable suspended platform has a complex structure the dynamics of which is difficult to be modeled by using conventional robotic approaches.  ...  A design of a tethered aerial robot with a swinging actuator is presented in [6] .  ... 
doi:10.1007/978-94-007-1643-8_1 fatcat:xan5mhiajbcmxij7otlreeewte

A parallel wire robot for epicardial interventions

Adam D. Costanza, Nathan A. Wood, Michael J. Passineau, Robert J. Moraca, Stephen H. Bailey, Tomo Yoshizumi, Cameron N. Riviere
2014 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
This paper describes the design and preliminary testing of a planar parallel wire robot that adheres to the surface of the beating heart and provides a stable platform for minimally invasive epicardial  ...  The device is deployed through a small subxiphoid skin incision and attaches to the heart using suction.  ...  Kinematics For motion and path planning a planar approximation has been made. Because the device is a parallel manipulator, no closed form solution exists for the forward kinematics.  ... 
doi:10.1109/embc.2014.6945034 pmid:25571402 pmcid:PMC4359915 dblp:conf/embc/CostanzaWPMBYR14 fatcat:xuvf4zpnjbgyvbe5ybyotaka4e

Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning [article]

Carolyn Matl, Ruzena Bajcsy
2021 arXiv   pre-print
The transition model for the end-effector-to-dough interactions is learned from one hour of robot exploration, and doughs of different hydration levels are rolled out into varying lengths.  ...  Furthermore, we show that estimating stiffness using the soft end-effector can be used to effectively initialize models, improving robot performance by approximately 40% over incorrect model initialization  ...  We thank Andrea Bajcsy, Anusha Nagabandi, and Matthew Matl for their insightful feedback and suggestions.  ... 
arXiv:2107.06924v1 fatcat:3v26uqvtzfg7xbldyqcokif4um

Active Tethered Pelvic Assist Device (A-TPAD) to study force adaptation in human walking

Vineet Vashista, Xin Jin, Sunil K. Agrawal
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
The controller includes (i) a quadratic programming based optimization scheme, (ii) a real-time human motion monitoring system and (iii) a PID feedback loop to plan and implement the required cable tensions  ...  TPAD is a cable robot for studying force adaptation in human walking by applying external forces and moments on the human pelvis.  ...  Ability to allow unconstrained limb motion is a desirable feature for any rehabilitation robot. The right heel pressure data is shown in Fig. 7 .  ... 
doi:10.1109/icra.2014.6906933 dblp:conf/icra/VashistaJA14 fatcat:behhbemdkvgi5lisqb4knmanve

Cable Control of an Aerostat Platform: Experimental Results and Model Validation

Casey Lambert, Meyer Nahon, Dean Chalmers, Gabriele Gilardi
2007 Journal of Guidance Control and Dynamics  
A secondary mechanism is planned that will be attached to the receiver platform to achieve the required level of orientation control. IV.  ...  The bottom of the tethers are attached to winches placed equidistant from each other on a circle of radius of 364 m.  ... 
doi:10.2514/1.22598 fatcat:cubossjv5za3hfucvmtkamqyym

A survey of snake-inspired robot designs

James K Hopkins, Brent W Spranklin, Satyandra K Gupta
2009 Bioinspiration & Biomimetics  
A large number of research groups have developed snake-inspired robots to exploit these benefits.  ...  For each category, we discuss their relative advantages and disadvantages. This paper will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features.  ...  The design of the inchworm robot by Chen et al. 1996 led to the development a planar inchworm robot, shown in Figure 18 , based on the basic inchworm motion [45, 46] .  ... 
doi:10.1088/1748-3182/4/2/021001 pmid:19158415 fatcat:43k7lvfco5hbhdnxqn4u2olojq

A review of space tether research

M.P. Cartmell, D.J. McKenzie
2008 Progress in Aerospace Sciences  
The review paper attempts to provide a useful contextualised source of references for the student interested in learning about space tethers, and their potential for propulsion of payloads in Space.  ...  The overarching theme of the paper is to show the richness and diversity of tether modelling that has been undertaken in recent times, and to emphasise, by means of many different examples, that dynamics  ...  Michael Eiden for their interest in, and support of, the tether research that initiated at the University of Edinburgh in 1996 and which we then transferred to the University of Glasgow in 1998.  ... 
doi:10.1016/j.paerosci.2007.08.002 fatcat:qyz7ktg7hfdgjfeugncssz63o4

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Christian Hubicki, Jesse Grimes, Mikhail Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan Hurst
2016 The international journal of robotics research  
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running.  ...  To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and  ...  The authors further thank Kit Morton, Ryan Van Why, Soo-Hyun Yoo, Ethan Shepard, Michael Anderson, Ross McCullough, and Ryan Skeele for their technical contribution to building ATRIAS, its electronics  ... 
doi:10.1177/0278364916648388 fatcat:l6ge3cxq4zhldkzyyeti4zviqq

Survey on indirect optical manipulation of cells, nucleic acids, and motor proteins

Ashis Gopal Banerjee, Sagar Chowdhury, Wolfgang Losert, Satyandra K. Gupta
2011 Journal of Biomedical Optics  
Instead of direct laser exposure, more often than not, optically-trapped beads are attached to the ends or boundaries of the objects for translation, rotation, and stretching.  ...  In this paper, we utilize the concept of robotic gripping to explain the different experimental set-ups which are commonly used for indirect manipulation of cells, nucleic acids, and motor proteins.  ...  Unlike macro-scale systems where the grippers are attached to robotic arms that rest on some solid supports, the dielectric beads are kept in place by optical trapping, suction, or other tethering forces  ... 
doi:10.1117/1.3579200 pmid:21639562 fatcat:vyaavueasrcgdgxfrrmif2o6wa

Analysis framework for cooperating mobile cable robots

Xiaobo Zhou, Chin Pei Tang, Venkat Krovi
2012 2012 IEEE International Conference on Robotics and Automation  
with a case study of four cooperating gantry mounted cable robots transporting a planar payload.  ...  To this end, we propose a generalized modeling framework for systematic design and analysis of cooperative mobile cable robots, building upon knowledge base of multi-fingered grasping, and illustrate it  ...  A cable robot with an n DOF end effector requires at least n + 1 cables to fully constrain the end-effector, leading to minimum limits of four cables for planar robots and seven cables for the spatial  ... 
doi:10.1109/icra.2012.6225169 dblp:conf/icra/ZhouTK12 fatcat:3i5kqzsuorcxxn5tt5qlbjzara

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

2017 Sensors  
Force feedback control has been the classical approach for providing compliance in robotic systems.  ...  As a result, safer and smoother robot control can be achieved both while approaching and while touching surfaces.  ...  This information, coupled with the state information of the robot, is used by the robot controller within the implemented trajectory planning algorithms to direct the motion of the robot.  ... 
doi:10.3390/s17061384 pmid:28613255 pmcid:PMC5492288 fatcat:usdtjqjzwjhibjhugdtsln22kq

Wireless MRI‐Powered Reversible Orientation‐Locking Capsule Robot

Onder Erin, Mustafa Boyvat, Jelena Lazovic, Mehmet Efe Tiryaki, Metin Sitti
2021 Advanced Science  
Medical functionalities of such robots also remain a challenge due to the miniature robot designs.  ...  Therefore, a wireless capsule-type reversible orientation-locking robot (REVOLBOT) is proposed that has decoupled translational motion and planar orientation change capability by locking and unlocking  ...  wax, Jonathan Fiene and Martin Phelan for helping the MRI sliding stage setup, Kaylen Richardson for helping the MRI imaging, and Seyhan Sitti for helping the manufacturing of the robot components.  ... 
doi:10.1002/advs.202100463 fatcat:le4at4yltjboxi4264xxrkddde

Ingestible, controllable, and degradable origami robot for patching stomach wounds

Shuhei Miyashita, Steven Guitron, Kazuhiro Yoshida, Shuguang Li, Dana D. Damian, Daniela Rus
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
We designed and fabricated composite material sheets for a biocompatible and biodegradable robot that can be encapsulated in ice for delivery through the esophagus, embed a drug layer that is passively  ...  In this paper, we present origami-based robots that can be ingested into the stomach, locomote to a desired location, patch a wound, remove a foreign body, deliver drugs, and biodegrade.  ...  ACKNOWLEDGMENT We thank Kodiak Brush, Alicia Cabrera-Mino, Nikita Waghani, and Kevin A. Gonzales for their support in fabricating the robots and in experiments.  ... 
doi:10.1109/icra.2016.7487222 dblp:conf/icra/MiyashitaGYLDR16 fatcat:t5hvzpf7affpzbbrvh6k46lt74
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