Modular methodology to design high precision parallel robots and application to a 5-Degree of Freedom flexure-based manipulator

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The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances ...

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Introduction: This study aims to evaluate the effects of medication, and the freezing of gait (FoG) on the kinematic and kinetic parameters of gait in people with Parkinson's disease (pwPD) compared to neurologically healthy. Methods: Twenty-two people wit ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

In the modern age of miniaturisation, Smart Materials, a type of material that reacts mechanically to a certain stimulus, have become an integral part of this revolution. Among these materials, Shape Memory Alloys (SMAs), which have the highest volumetric ...

Robots are employed to assist humans in lengthy, challenging, and repetitive tasks. However, the fields of rehabilitation, haptics, and assistive robotics have shown a significant need to support and interact with people in their everyday life. To facilita ...

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to re ...

This research investigates the robotic assembly of timber structures connected by wood–wood connections. As the digitization of the timber construction sector progresses, digital tools, such as industrial robotic arms and Computer Numerical Control machine ...

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human-robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research ...

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

This paper introduces a computational framework that fosters collaboration between architects, engineers, and contractors by bridging the gap between architectural design, structural analysis, and digital construction. The present research is oriented towa ...

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...

Between 1671 and 1716, the German mathematician Gottfried Wilhelm Leibniz attempted to design a reckoning machine. Working closely with the Parisian clockmaker Monsieur Ollivier, Leibniz eventually failed at producing a working prototype. After the redisco ...

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

Modular methodology to design high precision parallel robots and application to a 5-Degree of Freedom flexure-based manipulator

Chattez avec Graph Search

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Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators