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Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation [article]

David V. Gealy, Stephen McKinley, Brent Yi, Philipp Wu, Phillip R. Downey, Greg Balke, Allan Zhao, Menglong Guo, Rachel Thomasson, Anthony Sinclair, Peter Cuellar, Zoe McCarthy (+1 others)
2019 arXiv   pre-print
We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost.  ...  Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments.  ...  This paper presents a fully realized paradigm for a low-cost Quasi-Direct Drive (QDD) manipulator and discusses considerations taken for the design and manufacturing of this system.  ... 
arXiv:1904.03815v2 fatcat:ojzxq4ym55hzjd3k3frowrujzi

A low-cost compliant 7-DOF robotic manipulator

Morgan Quigley, Alan Asbeck, Andrew Ng
2011 2011 IEEE International Conference on Robotics and Automation  
We present the design of a new low-cost serieselastic robotic arm.  ...  comparable manipulators.  ...  Conclusions We have presented the design of a low-cost robotic arm useful for manipulation research.  ... 
doi:10.1109/icra.2011.5980332 dblp:conf/icra/QuigleyAN11 fatcat:lee22m3vuregtav2fwhsjyff3i

A flexure-based gripper for small-scale manipulation

Michael Goldfarb, Nikola Celanovic
1999 Robotica (Cambridge. Print)  
A small-scale flexure-based gripper was designed for manipulation tasks requiring precision position and force control.  ...  The gripper serves effectively as a one degree-of-freedom investigation of compliant mechanism design for position and force controlled micromanipulation.  ...  The study of direct-drive robots was borne out of the necessity to implement precision position and force control of robot manipulation for purposes of mechanical interaction 10 .  ... 
doi:10.1017/s026357479900096x fatcat:36xbtsyiyzazddgwep3sxsywzy

Trade-offs in the implementation of rigid and intrinsically compliant actuators in biorobotic applications

Reyhan Zanis, Emilia Motoasca, Elena Lomonova
2012 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
Actuators with intrinsic compliant elements are more and more being adopted in the biorobotics world.  ...  driven rigid motor and a variable stiffness actuator for biorobotic applications.  ...  ACKNOWLEDGEMENTS The authors would like to thank SMAC Moving Coil Actuators for the funding of this research project.  ... 
doi:10.1109/biorob.2012.6290695 fatcat:brfoq2nms5fxtmiehh6budewfy

Design, Implementation and Evaluation of a Variable Stiffness Transradial Hand Prosthesis [article]

Elif Hocaoglu, Volkan Patoglu
2019 arXiv   pre-print
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance.  ...  Bowden cable-based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand, but also enables a light-weight and low-cost design, by opportunistic placement of motors  ...  The secondary requirements for the device are high robustness and low cost.  ... 
arXiv:1910.12569v1 fatcat:prkuvm7f5be6tadp5ipaw77o4m

Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator

Meng Yin, Haoting Wu, Zhigang Xu, Wei Han, Zhiliang Zhao
2020 IEEE Access  
INDEX TERMS Tendon-sheath actuators, robotic manipulator, compliant control, position transmission model, parameter identifications, series elastic actuators, transmission characteristic.  ...  Therefore, this paper proposes a new method for compliant control based on a dual encoder, and the existing transmission model was improved by considering the joint torque.  ...  The compliant control method can be applied in a manipulator actuated by a tendon sheath, which is instructive for applications using a rehabilitation robot and an exoskeleton. II.  ... 
doi:10.1109/access.2020.2973173 fatcat:bf46ets3vzgodfaod4pa3vxfi4

A simple and compliant force sensing palm for the MLab Simple Hand

Garth Zeglin, Alberto Rodriguez, Matthew T. Mason
2013 2013 IEEE International Conference on Robotics and Automation  
Sensing the forces applied to the palm of a robot manipulator requires robust compliant sensors guarded against collision.  ...  The force sensing palm for the MLab Simple Hand measures three components of net contact force in a simple robust design using flexure springs and optical position sensing.  ...  Given the amount of manual machining, it is not yet low-cost, but reflects a design process directed toward low-cost production. The most expensive component we use is the calibration force sensor.  ... 
doi:10.1109/icra.2013.6630898 dblp:conf/icra/ZeglinRM13 fatcat:47yjn7dxcncg3isfga5xgrq7ge

Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis

Elif Hocaoglu, Volkan Patoglu
2022 Frontiers in Neurorobotics  
We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance.  ...  Bowden cable based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand but also enables a light-weight and low-cost design, by the opportunistic placement of motors  ...  AUTHOR CONTRIBUTIONS EH was responsible for the design, fabrication, and experimental evaluation of the variable stiffness hand prosthesis. VP conceived and supervised the study.  ... 
doi:10.3389/fnbot.2022.789210 pmid:35360829 pmcid:PMC8960622 fatcat:ve34juszabapra7mbba5oq7gta

On the design of large degree-of-freedom digital mechatronic devices based on bistable dielectric elastomer actuators

A. Wingert, M.D. Lichter, S. Dubowsky
2006 IEEE/ASME transactions on mechatronics  
It is shown that DE actuators have high energy densities, light weight, low cost, and large displacements. Hence they could potentially make large DoF binary systems practical.  ...  Binary actuation has been proposed to reduce complexity in robotic and mechatronic systems.  ...  Fontaine for their help in actuator design and fabrication of experimental prototypes.  ... 
doi:10.1109/tmech.2006.878542 fatcat:quhonkxbobhsbeevikzxbg5eji

Exploring robust, intuitive and emergent physical human-robot interaction with the humanoid robot Acroban

Pierre-Yves Oudeyer, Olivier Ly, Pierre Rouanet
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
Finally, an originality of Acroban is that is is made with relatively low-cost components which lack of precision is counterbalanced with the robustness due to global geometry and compliance.  ...  These physical human-robot interaction are made possible through the combination of several properties of Acroban: 1) it is whole-body compliant thanks to variable impedance control and also thanks to  ...  They enabled the DLR lightweight robot arm manipulator to perform compliant manipulation in contact with humans [8] [9] . They also provided keys for systematic evaluation of safety in PHRI.  ... 
doi:10.1109/humanoids.2011.6100852 dblp:conf/humanoids/OudeyerLR11 fatcat:5ld74zczxfgzpglcja6ymn7kuy

Novel Compliant omnicrawler-wheel transforming module [article]

Akash Singh, Vinay Rodrigues, Enna Sachdeva, Sai Hanisha, Madhava Krishna
2018 arXiv   pre-print
This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO.  ...  This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism.  ...  The rods in each pairs of rods are connected via compliant thick wire connectors. The driving mechanism consists of a driving motor connected to driving shaft via gears.  ... 
arXiv:1806.00765v2 fatcat:uuusrix3ejg5bhgon7lctj7ggy

Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface [article]

Lasitha Wijayarathne, Frank L. Hammond III
2020 arXiv   pre-print
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many  ...  These applications include surgical tasks involving manipulation of compliant, delicate, moving tissues.  ...  Technical contributions of this paper can be listed as below: • Design of a low-cost, low-inertia, safe stiffness identification probe for compliant environments which is independent of the robot configuration  ... 
arXiv:2004.09729v1 fatcat:hgvdw3bs6nemtffx2m7k3zons4

Iterative learning control for whole-arm object manipulation through coordination of torque/velocity-controlled fingers

Masahito Yashima, Tasuku Yamawaki
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper proposes an iterative learning control scheme for whole-arm object manipulation by using a robotic hand system composed of a velocity-controlled finger and a torque-controlled finger.  ...  The switching between the two controllers is made to achieve compliant manipulation. The validity of the proposed scheme is demonstrated through experiments.  ...  quasi-static manipulation, the remaining torque-controlled finger must apply the joint driving torque to satisfy static equilibrium.  ... 
doi:10.1109/iros.2015.7354265 dblp:conf/iros/YashimaY15 fatcat:wt7q3intifa6hm7gjs7rs4ycie

Stanford Doggo: An Open-Source, Quasi-Direct-Drive Quadruped [article]

Nathan Kau, Aaron Schultz, Natalie Ferrante, Patrick Slade
2019 arXiv   pre-print
This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots.  ...  The hardware and software to replicate this robot is open-source, requires only hand tools for manufacturing and assembly, and costs less than 3000.  ...  ACKNOWLEDGEMENTS The authors would like to thank Ademi Adeniji, Brian Zeng, James Wang, and Meera Radhakrishnan for supporting the development of Stanford Doggo.  ... 
arXiv:1905.04254v1 fatcat:wciwlopvs5aibnmwuxmcrmhtky

An Overview on Principles for Energy Efficient Robot Locomotion

Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schaffer, Patrick J. Clary, Monica Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan Hurst (+12 others)
2018 Frontiers in Robotics and AI  
This is in particular critical for untethered legged robot locomotion.  ...  We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion.  ...  AUTHOR CONTRIBUTIONS All authors listed have made a substantial, direct and intellectual contribution to the work, and approved it for publication.  ... 
doi:10.3389/frobt.2018.00129 pmid:33501007 pmcid:PMC7805619 fatcat:dwrykp2fofg7zelyir5ii6n6se
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