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Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type...
In grasping, one fundamental question is to ask how well a grasp can resist external disturbance. Canonically, the solution of this question lies in calculating the set of wrenches that can be generated by the grasp assuming some limitation of the hand and measurement of the extreme point in some direction of that set. Using wrenches comes with two issues: the dependency on the choice of the origin...
In this paper, we report on our efforts to transport a large object by small mobile robots in a home or office environment. Given such an environment, robots must be compact. We improved the transport capacity of small mobile robots using a handcart. However, there were two problems faced: the risk of a slip and fall under the influence of the reaction force when the robot handles the object, and...
Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels...
The article introduces an actinomorphic soft robot that possesses a flattened body with a number of arms radially symmetric distributing and extending from robot central disc. Hence, mimicking radially symmetric musculature animals like starfish. The robot arm system, consisted of arm and smart material alloy (SMA) springs is the support structure as well as the robot propulsion device. A novel approach...
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