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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...
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...
This paper presents a performance assessment of a highly complex wire-driven mechanical system in a surgical robot, MU-LapaRobot. The MU-LapaRobot is a collaborative surgical robot, developed for ongoing robotic research for laparoscopic surgical application. The MU-LapaRobot consists of 1-DOF passive joint for vertical motion, 2-DOF passive boom for planar motions and 4-DOF active surgical tool-holder...
In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation...
This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab...
Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint...
In this paper, a flexible in-vessel inspection robot for inspecting the first wall inside the vacuum vessel of Experimental Advanced Superconducting Tokamak (EAST) is modeled using the absolute nodal coordinate formulation. The robot is a macro-micro robot including three curved telescopic booms. When the curved telescopic booms are extracted and retracted during the operation process, its overall...
Search and rescue field missions, especially in environments which are dangerous for humans, increasingly requires the usage of robust and flexible robots. We describe the development of the modular reconfigurable robot KAIRO 3 focusing on applications in search and rescue, inspection and maintenance. After a short retrospect of previous generations of modular robots, the latest design of KAIRO 3...
Remote center of motion (RCM) mechanisms are widely used in surgical robots to mechanically constrain the position of a certain point in the operation space. Examples of well-known RCM mechanisms include parallelogram mechanisms, spherical linkages, circular guiding arcs, etc. In this paper, a reinforced circular-guided RCM mechanism is presented. In the mechanism, a closed-looped circular-guiding...
The Endonasal endoscopic transsphenoidal surgical system will be presented in this study. The Endonasal transsphenoidal surgery (ETSS), a process to approach and remove pituitary tumor, is less invasive, and causes less pain and faster recovery than the old process (Craniotomy surgery). However, the optic nerves, cavernous sinuses and carotid arteries are intimately next to the pituitary gland. A...
The purpose of this study is to evaluate the energy efficiency of an insertion-type peristalsis pump and compare it with conventional methods such as the positive-displacement pump and rotodynamic pump. This device can transport high-viscosity fluids and solid-liquid-mixture fluids with low applied pressure in small spaces and various places such as the outdoors. In previous studies, the authors showed...
Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing...
This paper presents the development and implementation of Robee, a novel social behavior controller for robots with a focus on Human-Robot Interaction (HRI) studies. Using the homeostatic drive theory, Robee selects the behaviors in order to maintain the needs, mainly psychological and social, within an acceptable range. We propose a hybrid concept for the decision making process, which combines the...
The disassembly of end-of-life products has thus far seen minimal industrial application of robotics, aside from manufacturers initiatives to refurbish their own products. Conventional robotics in manufacturing lacks the flexibility to deal with the expected small lot sizes, product deviations and failed operations due to product damage. Disassembly systems not owned by manufacturers need to be readily...
We propose an approach that combines human demonstrated posture-control skill defined by the motion in the lower limb joints with an inverse kinematics solution of an arbitrary hand motion. The posture-control skill for humanoid robot was obtained through the human-in-the-loop teaching approach. The collected data during the teaching phase was used to approximate functional relation between the state...
This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize...
This paper describes the conditions that a snake robot must meet in order to be able to grasp an object with a circular cross-section. The type of grasp is of the enveloping type, and the conditions to guarantee a grasp with form-closure using three contacts, the minimum number of contacts possible, are presented. The first contribution of this paper is the description of the conditions where form-closure...
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these...
This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers the ability of handling constraints although requiring relatively significant computational resources. In detail, we show how NMPC can be applied to achieve straight line path following control of snake robots. The paper presents simulation results...
This paper presents an averaged model of the velocity dynamics of an underwater snake robot, suited for stability analysis and motion planning purposes for general sinusoidal motion gait patterns. Averaging theory is applied in order to derive a model of the average velocity for a control-oriented model of an underwater snake robot that is influenced by added mass effects (reactive fluid forces) and...
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