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This paper presents a novel kinematic control scheme based on the Virtual Incision Ports (VIPs) for redundancy resolution of redundant robotic arms for single-port access (SPA) surgery. In general, manipulators have 6 DoFs except grippers to be able to reach the desired pose in 3D space. If a surgical robot for SPA surgery has only 6 DoFs, then its workspace could be restricted severely. Therefore...
This paper gives an overview of the development of a novel biped walking machine for a humanoid robot, Roboray. This lower-limb robot is designed as an experimental system for studying biped locomotion based on force and torque controlled joints. The robot has 13 actuated DOF and torque sensors are integrated at all the joints except the waist joint. We designed a new tendon type joint modules as...
This paper presents a framework to generate dynamic walking for biped robots. A set of self-stable gait primitives is first constructed. It is done by 1) representing parametric gait primitives, 2) utilizing state-dependent torque control, and 3) doing numerical optimization that takes into account the complex multi-body dynamics with frictional contact forces. Dynamic walking to follow the arbitrary...
We propose a balancing control framework for a torque-controlled biped robot, Roboray. Roboray has two 6 DOF legs and torque sensors are integrated at all the leg joints. It has a new cable-driven joint module as a pitch joint drive, which is highly back-drivable and elastic. Using these hardware characteristics, we propose a new balancing control algorithm. This algorithm is the combination of gravity...
In future daily life, one of the most important functionality as a household service robot may be the delivery task. Furthermore, grasping an object is the essential motion for the delivery task. To complete the ordered delivery task successfully, robot should be able to detect whether its hand is grabbing the target object or not. If the object is released unexpectedly during service, robot has to...
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