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Guest editorial: Special issue on distributed robotics—from fundamentals to applications

Roderich Groß, Andreas Kolling, Spring Berman, Alcherio Martinoli, Emilio Frazzoli, Fumitoshi Matsuno
2018 Autonomous Robots  
Bound to help: cooperative manipulation of objects via compliant, unactuated tails (Kim and Shell) This paper examines a group of robots with unactuated, compliant "tails", allowing a robot to tow a single  ...  object on its own, or, by physically linking with another robot, to tow multiple objects at once.  ... 
doi:10.1007/s10514-018-9803-9 fatcat:7qovvvqmsbe7zez4kbujzmfs5e

Bound to help: cooperative manipulation of objects via compliant, unactuated tails

Young-Ho Kim, Dylan A. Shell
2018 Autonomous Robots  
Each robot is equipped with an unactuated, compliant chain attached as an appendage that we call its tail.  ...  In addition to towing individually, any two robots wishing to operate within a tightly-knit sub-team are able to link the ends of their respective tails.  ...  This paper studies robots equipped with an unactuated flexible structure attached as a tail and examines how these robots can solve multi-object collection tasks as a team.  ... 
doi:10.1007/s10514-018-9718-5 fatcat:nm3mtsckurbbdhcub2gpdajhia

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
2015 Soft Robotics  
The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention.  ...  The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process.  ...  A planning algorithm to grasp-and-place randomly positioned objects on a planar surface using a Seven DOF soft manipulator.  ... 
doi:10.1089/soro.2015.0013 pmid:27625916 pmcid:PMC4998948 fatcat:d7ohps7izvglbf6oi4od2b6nwq

A Recipe for Soft Fluidic Elastomer Robots

Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus
2015 Soft Robotics  
This work provides approaches to designing and fabricating soft fluidic elastomer robots.  ...  Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation.  ...  FIG. 1 . 1 Extremely soft and highly compliant fluidic elastomer robots. (a) Ribbed planar manipulator. 8 (b) Cylindrical manipulator with gripper.  ... 
doi:10.1089/soro.2014.0022 pmid:27625913 pmcid:PMC4997626 fatcat:jud24txbtfdlfdkfo2ysucc5c4

Tandem actuation of legged locomotion and grasping manipulation in soft robots using magnetic fields

Venkatasubramanian Kalpathy Venkiteswaran, Danica Kristina Tan, Sarthak Misra
2020 Extreme Mechanics Letters  
To translate these concepts into reality, soft robots are being developed with different capabilities, such as functional components to achieve motion and object manipulation.  ...  Untethered soft robots have the potential to impact a variety of applications, particularly if they are capable of controllable locomotion and dexterous manipulation.  ...  The authors would like to thank Leon Abelmann and Yannick Klein for their help with magnetization of samples.  ... 
doi:10.1016/j.eml.2020.101023 fatcat:pl6orzl3draergw3lcp3xmsyny

Design, Modeling, Control, and Application of Everting Vine Robots

Laura H. Blumenschein, Margaret M. Coad, David A. Haggerty, Allison M. Okamura, Elliot W. Hawkes
2020 Frontiers in Robotics and AI  
Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot  ...  Here we review recent work on robots that "grow" via pressure-driven eversion, referred to as "everting vine robots," due to a movement pattern that is similar to that of natural vines.  ...  ACKNOWLEDGMENTS We thank our many collaborators on everting vine robot research for discussions related to the topics presented here.  ... 
doi:10.3389/frobt.2020.548266 pmid:33501315 pmcid:PMC7805729 fatcat:7wosgy37bve7vhegpkbkczjjvi

Kinematic modeling of wheeled mobile robots

Patrick F. Muir, Charles P. Neuman
1987 Journal of Robotic Systems  
When the end-effecter comes in contact with an object (e.g., when picking-up an object and placing a peg in a hole), the structure becomes a closed-link chain and actuator conflict m a y occur.  ...  WMRs contain multiple closed-link chains [53] ; whereas stationary manipulators form closedlink chains only when in contact with stationary objects. .2.)  ...  In contrast to manipulator dynamics, we must resolve the special problems of closed-link chains and higher-pair joints.  ... 
doi:10.1002/rob.4620040209 fatcat:q5tgku23fjdkdgdlfrjc3xji6u

A String-Based Representation and Crossover Operator for Evolutionary Design of Dynamical Mechanisms

P. Reinier Kuppens, Wouter J. Wolfslag
2018 IEEE Robotics and Automation Letters  
To assist designers, a platform that automatically designs dynamical mechanisms is needed.  ...  This paper introduces a novel string-based representation for mechanisms, including evolutionary operators, that allows an evolutionary algorithm to automatically design dynamical mechanisms for a designated  ...  Finally, rigid body spring mechanisms are important because of their use as a first approximation for compliant mechanisms [8] , such as a fully compliant force balanced oscillator [9] .  ... 
doi:10.1109/lra.2018.2800102 dblp:journals/ral/KuppensW18 fatcat:7tbp75vslne5bivvpyadbw5rim

Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics

Frederic Boyer, Ayman Belkhiri
2014 IEEE Transactions on robotics  
The approach is illustrated through non-trivial examples such as the 3D bicycle and a compliant version of the snake-board.  ...  the softness of their flapping wings to improve flight performance.  ...  tail.  ... 
doi:10.1109/tro.2013.2294733 fatcat:nmt7uvm37ncdlniltchqc2xxhy

Computational considerations in the implementation of force control strategies

Richard Volpe, Pradeep Khosla
1994 Journal of Intelligent and Robotic Systems  
Finally, a review of the experimental results obtained is provided.  ...  First, a review of both explicit force and impedance control strategies is provided.  ...  One solution, however, is to use a soft force sensor or compliant c o vering on the sensor. The compliance acts as a lowpass lter with no time delay.  ... 
doi:10.1007/bf01258316 fatcat:j3lmn2z3c5cf3bezdkydlvumru

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Four years has since then passed and in order to discuss the most recent advances, it has been decided to hold another similar conference during 24-  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgments The first author is supported by the Fundacäo para a Ciencia e a Tecnologia under grant PRAXIS XXI/BD/9541/96.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Folding in and out: passive morphing in flapping wings

Amanda K Stowers, David Lentink
2015 Bioinspiration & Biomimetics  
The mechanism consists of an unactuated hand wing connected to the arm wing with a wrist joint. Flapping motion generates centrifugal accelerations in the hand wing, forcing it to unfold passively.  ...  Using a robotic model in hover, we made kinematic measurements of unfolding kinematics as functions of the non-dimensional wingspan fold ratio (2-2.5) and flapping frequency (5-17 Hz) using stereo high-speed  ...  For instance, the Nano-Hummingbird (Keennon et al 2012) is a 19 gram flapping winged vehicle which attains controlled flight without a tail, using only the wings for control surfaces.  ... 
doi:10.1088/1748-3190/10/2/025001 pmid:25807583 fatcat:ksf7sbpatjdqhniolevkkxedyu

A usability study in patients with stroke using MERLIN, a robotic system based on serious games for upper limb rehabilitation in the home setting

Silvia Guillén-Climent, Ainara Garzo, María Nieves Muñoz-Alcaraz, Pablo Casado-Adam, Javier Arcas-Ruiz-Ruano, Manuela Mejías-Ruiz, Fernando Jesús Mayordomo-Riera
2021 Journal of NeuroEngineering and Rehabilitation  
Robotic devices, in addition to telerehabilitation, are increasingly being used to train the upper limbs after stroke, and their use at home allows us to extend institutional rehabilitation by increasing  ...  Telerehabilitation constitutes a major step forward in the use of intensive rehabilitation at home. Trial registration ClinicalTrials.gov, NCT04405609.  ...  Acknowledgements Authors would like to thank the patients who gave up their free time to participate in the study. Special thanks to C. Rodriguez-de-Pablo, I.  ... 
doi:10.1186/s12984-021-00837-z pmid:33622344 fatcat:5nyijy3i2nfydleg5jaclb7bpa

Turbulent Boundary Layer over a Piezoelectrically Excited Traveling Wave Surface

Patrick F. Musgrave, Pablo A. Tarazaga
2019 AIAA Scitech 2019 Forum   unpublished
The first objective is to further develop the two-mode excitation method in order to tailor the traveling waves generated on a two-dimensional plate.  ...  In addition, the waves can be excited at most frequencies and using a small number of low-profile piezoelectric actuators.  ...  Force balances are typically used to measure the total drag on an object: combination of form/pressure drag and skin friction drag.  ... 
doi:10.2514/6.2019-1354 fatcat:g55gl52oojbznhxsfy5kgtudx4

Optimal design of morphing structures

Oliver Rhodes, Matthew Santer, Engineering And Physical Sciences Research Council
2014
The requirements of morphing between aerodynamic shapes are evaluated using geometry-based objective functions.  ...  Optimally morphing a compliant structure involves finding the distribution of actuation which best achieves a desired configuration change.  ...  My gratitude is also extended to all members of staff and students within the Department of Aeronautics, for contributing to the stimulating and exciting atmosphere in which I was able to conduct my studies  ... 
doi:10.25560/12673 fatcat:drjqlu4ilveonaqugb5urygopa
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