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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...
Flexible driving is essential in enhancing security during human-robot interactions and improving the adaptability of robots to complex environments. Based on these principles, we developed a variable stiffness actuator with automatic rigidity/ compliance switching. The actuator contains two motors-one for position control and the other for adjusting the stiffness. The stiffness adjustment motor independently...
Series elastic actuation (SEA) has been widely used for output force/torque regulation, however, the nonlinearity introduced by its torsion spring hysteresis will greatly affect the quality of feedback control. Thus an experimental procedure is conducted for the modeling and identification of spring hysteresis effect, based on which a compensated control scheme is given. Experiment results show that...
The aerial posture adjustment of jumping robots are very important for them to land safely. The body of our previous jumping robot rotates in the air which may lead to damage of its fragile parts during landing. In this paper, the aerial posture adjustment of the robot is investigated by modeling and simulation. Firstly, inspired by aerial posture adjustment of animals and insects, the robot model...
Authors developed a novel type of cable reel named “Unicorn Reel (UR)” for mobile robots working in hostile environments that utilize a cable for communications and power supply. Authors introduced a pipe-elected reel configuration for the UR to receive the cable from all directions, and a new type of level winder consisting of passively swing lever to lead the cable from the pipe to the reel. Although...
This paper describes the development of a handbell-playing robot system. The conditions under which the bells are rung are derived by an analysis of a physical model of a handbell. We designed the robot hardware based on these conditions. We also designed the mapping of the MIDI commands to the handbell-robot motions. Experiments performed verified that the robot system could play music according...
Endotracheal intubation (ETI) is a difficult technique and requires a great deal of practice to master. Research on the difference in movements between experts and novices performing the procedure has shown that experts perform movements more precisely than novices. Experts keep a fixed posture and use the upper arm muscles and wrist joints more effectively. These studies were conducted using optical...
As a driving source of a robot arm in order to achieve a smooth movement at high power and with a minimal size, a series elastic drive system added with another actuator is used in this research. A series elastic mechanism using a torsion bar and a high reduction actuator drives the arm, and the added low reduction actuator reduces the vibration characteristics of the arm according to the response...
This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility...
This article proposes a new design of a 3D unfolded/tightened mechanism based on the spine structure of golden tree snake, which can realize torsion and bending. Inspired by golden tree snake vertebrae space deformation characteristics, analyzing the anatomy characteristics of the golden tree snake spine bone and muscle distribution characteristics, The bionic mechanism and drive unit can drive the...
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which...
This paper describes design, simulation, and experiments of a mesoscale quadruped robot that can locomote by crawling and jumping. The robot has the length of 14 cm and the weight of 188 g. The robot is designed to perform crawling and jumping for the hybrid locomotion. The robot uses eight micro servo motors for crawling and four DC motors for jumping. The design has been validated by simulation...
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