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Point-to-point motion control of a pendulum-like 3-dof underactuated cable-driven robot

Simon Lefrançois, Clément Gosselin
2010 2010 IEEE International Conference on Robotics and Automation  
The equations of motion of the underactuated cable-driven robot are first developed.  ...  This paper presents a novel planar three-degreeof-freedom pendulum-like underactuated robot. The robot consists of an end-effector with an actuated arm suspended on a cable wound on a reel.  ...  EQUATIONS OF MOTION In this section, the kinematic and dynamic equations governing the motion of the underactuated 3-dof cable-driven robot are obtained. A.  ... 
doi:10.1109/robot.2010.5509656 dblp:conf/icra/LefrancoisG10 fatcat:c3itimi4wrd5zabcgnhmzzrwbu

Cable-driven parallel mechanisms: state of the art and perspectives

2014 Mechanical Engineering Reviews  
In [58] , a fuzzy controller is proposed while [59] uses a backstepping approach to control a 3-dof CDPM.  ...  Fig. 3 3 Prototype of a 6-dof cable-driven haptic device developed at the Tokyo Institute of Technology (courtesy of Professor Yukio Takeda, TIT).  ... 
doi:10.1299/mer.2014dsm0004 fatcat:fl7f74iqw5al3nzgv642xof2sq

Case studies for computed torque control of constrained underactuated systems

Ambrus Zelei, Gábor Stépán
2012 Periodica Polytechnica: Mechanical Engineering  
A special group of these systems is formed by the underactuated ones, in which the number of independent control inputs is lower than the degrees of freedom of the system.  ...  Computed torque control (CTC) method is an efficient technique for trajectory tracking control of robot manipulators.  ...  The domestic robot called ACROBOTER [5] hangs down from the ceiling on a suspending cable similarly to cranes, and it is able to utilize the pendulum-like motion efficiently.  ... 
doi:10.3311/ fatcat:35pkvtv7nndojf3awvaafihrwq

Human-robot cooperative object swinging

Philine Donner, Alexander Mortl, Sandra Hirche, Martin Buss
2013 2013 IEEE International Conference on Robotics and Automation  
We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task.  ...  We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads.  ...  ACKNOWLEDGMENT The authors would like to thank J. Bernhard, G. Goller, M. Karmann and F. Eutermoser for their support with setting up the experiments.  ... 
doi:10.1109/icra.2013.6631192 dblp:conf/icra/DonnerMHB13 fatcat:6v4hkujs5zfjhcvlign7ug2ama

Guest EditorialIntroduction to the Focused Section on Anthropomorphism in Mechatronic Systems

Venkat N. Krovi, Michael Goldfarb, Jean-Paul Laumond
2009 IEEE/ASME transactions on mechatronics  
The paper discusses operation of a 30-DOF humanoid robot (HRP-1S) by an operator using two 3-DOF joysticks that can switch between the multiple intermediary operational points. Harada et al.  ...  The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum with two conserved PDAC quantities.  ...  Laumond is a member of the IEEE Robotics and Automation Society AdCom. He was a member of the French Comité National de la Recherche Scientifique during 1991-1995.  ... 
doi:10.1109/tmech.2009.2033594 fatcat:yt4uqwnhpbaixiydbzsbgusmq4

SCALER: A Tough Versatile Quadruped Free-Climber Robot [article]

Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong
2022 arXiv   pre-print
SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground.  ...  Our GOAT gripper, a mechanically adaptable underactuated two-finger gripper, successfully grasps convex and non-convex objects and supports SCALER.  ...  ACKNOWLEDGEMENTS We would like to thank Varit Jane Liu, Kyle Gillespie, Kate Hsieh, Julia Yuan, Jackson Kwang Hui ng, Feng Xu, for the support on SCALER development.  ... 
arXiv:2207.01180v3 fatcat:5bqex4y5kbdjloaoostcqt7i2u

Dynamically Feasible Motion Planning through Partial Differential Flatness

Suresh Ramasamy, Guofan Wu, Koushil Sreenath
2014 Robotics: Science and Systems X  
Differential flatness is a property which substantially reduces the difficulty involved in generating dynamically feasible trajectories for underactuated robotic systems.  ...  We also extend the notion of partial differential flatness to hybrid systems.  ...  ACKNOWLEDGMENT The authors would like to thank Ralph Hollis, Michael Shomin, and Umashankar Nagarajan for several discussions on the Ballbot that led to this work.  ... 
doi:10.15607/rss.2014.x.053 dblp:conf/rss/RamasamyWS14 fatcat:c6usoimdk5ci7aj7rvsjuj6mam

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Michele Xiloyannis, Eugenio Annese, Marco Canesi, Anil Kodiyan, Antonio Bicchi, Silvestro Micera, Arash Ajoudani, Lorenzo Masia
2019 Frontiers in Neurorobotics  
Each module consists of three electromagnetic clutches, controlled to convert a constant unidirectional motion in an arbitrary output trajectory.  ...  Here we propose a paradigm to independently control multiple degrees of freedom using a set of modular components, all tapping power from a single motor.  ...  ACKNOWLEDGMENTS We acknowledge financial support by Deutsche Forschungsgemeinschaft within the funding programme Open Access Publishing, by the Baden-Württemberg Ministry of Science, Research and the Arts  ... 
doi:10.3389/fnbot.2019.00039 pmid:31275129 pmcid:PMC6591529 fatcat:cfjtbs2mvvcy7cnarth6xjaosm

CLASH—A Compliant Sensorized Hand for Handling Delicate Objects

Werner Friedl, Máximo A. Roa
2020 Frontiers in Robotics and AI  
Due to the implementation of differentially coupled flexors, the hand can be actuated like an underactuated hand but can also be driven with different stiffness levels to planned grasp poses, i.e., it  ...  Automation of logistic tasks, such as object picking and placing, is currently one of the most active areas of research in robotics.  ...  ACKNOWLEDGMENTS The authors would like to thank Tilo Wüsthoff for his assistance in designing the housings, Igor Merkowski for the contribution to the initial geometrical design of the CLASH hand, Florian  ... 
doi:10.3389/frobt.2019.00138 pmid:33501153 pmcid:PMC7805668 fatcat:zob6qfjp7jhfhinkzt3cnttf3a

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive Control of Inkjet 3-D Printing  ...  ; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot Locomotion on Dynamic Rigid Platforms  ...  ., +, TMECH June 2020 1377-1388 Design and Experimental Validation of a 3-DOF Underactuated Pendulum-Like Robot.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Pick−and−Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable−Based Gangue−Sorting Robots with Model Uncertainties and External Disturbances

Peng Liu, Haibo Tian, Xiangang Cao, Xinzhou Qiao, Li Gong, Xuechao Duan, Yuanying Qiu, Yu Su
2022 Machines  
disturbances for trajectory tracking control of the cable−based gangue−sorting robot, where the stability of a closed-loop control scheme is proved with Lyapunov stability theory.  ...  A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses.  ...  Conflicts of Interest: The authors declared no potential conflict of interest with respect to the research, authorship, and/or publication of this article.  ... 
doi:10.3390/machines10080714 fatcat:2cjm2xlberdepnpohxyon6kxmu

RABBIT: a testbed for advanced control theory

2003 IEEE Control Systems  
Acknowledgments We sincerely thank Gabriel Buche, the lead engineer of the RABBIT project, for his outstanding work on the experimental facilities. A special thanks also to B.  ...  Espiau who participated in the initial phase of the project and provid-  ...  The underactuation of the robot in single support led us to a complete rethinking of the control problem.  ... 
doi:10.1109/mcs.2003.1234651 fatcat:hn7jydmwjbh6zmjvrc7tcz3lqq

Design considerations for a biologically inspired compliant four-legged robot

Katayon Radkhah, Stefan Kurowski, Oskar von Stryk
2009 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Special techniques to reduce the weight of the robot such as the achievement of different motions by changing the spring stiffness by means of intelligent control instead of an additional motor were also  ...  In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a fourlegged robot.  ...  In order to compare the locomotion of a fully actuated and an underactuated robot, the movements of the feet points of both models for several steps were projected onto a two dimensional plane ensuring  ... 
doi:10.1109/robio.2009.5420606 dblp:conf/robio/RadkhahKS09 fatcat:xkljqzqrmnburad3riviydnidu

Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots [chapter]

Ricard Bordalba, Josep M. Porta, Lluís Ros
2017 Mechanisms and Machine Science  
This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots.  ...  The paper describes experiments that show the performance of the method in point-topoint operations with specific cable-driven robots, but the overall strategy remains applicable to other mechanism designs  ...  2: A spatial 3-DOF cable-driven robot.  ... 
doi:10.1007/978-3-319-61431-1_17 fatcat:535fm76tvnguvmp3swuwnd32la

Dynamic Walking: Toward Agile and Efficient Bipedal Robots [article]

Jenna Reher, Aaron D. Ames
2020 arXiv   pre-print
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality.  ...  Finally, models and their generated gaits merge in the context of real-time control, wherein walking behaviors are translated to hardware.  ...  ACKNOWLEDGMENTS The authors would like to thank the members of AMBER Lab whom have contributed to the understanding of robotic walking summarized in this paper.  ... 
arXiv:2010.07451v1 fatcat:rdnhz65amne3hbqvew6pd7qtd4
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