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The coordination of agents in an autonomous system can greatly increase its ability to perform missions in a wide array of applications including distributed computing, coordination of mobile autonomous agents, and cooperative sensing. To expand the functionality of these systems to a wider array of applications, a need exists for coordinated control algorithms driving the system of nodes or agents...
This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and...
Osteolysis is a debilitating condition that can occur behind the acetabular component of total hip replacements due to wear of the polyethylene liner. Conventional treatment techniques suggest replacing the component, while less-invasive approaches attempt to access and clean the lesion through the screw holes in the component. However, current rigid tools have been shown to access at most 50% of...
A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved...
This paper presents a method for estimating drive cable length in an underactuated, hyper-redundant, snake-like manipulator. The continuum manipulator was designed for the surgical removal of osteolysis behind total hip arthroplasties. Two independently actuated cables in a pull-pull configuration control the compliant manipulator in a single plane. Using a previously developed kinematic model, we...
A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states...
A new self-reconfigurable robot is presented. The robot is a hybrid chain/lattice design with several novel features. An active mechanical docking mechanism provides inter-module connection, along with optical and electrical interface. The docking mechanisms function additionally as driven wheels. Internal slip rings provide unlimited rotary motion to the wheels, allowing the modules to move independently...
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