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A vectored thruster based on 3-RRRR parallel manipulator for small-size AUVs is designed to solve some drawbacks of conventional AUVs, which the control surfaces become ineffective at zero or slow forward speeds. Though this method, the thrust from duck propeller is controlled by the parallel manipulator. This approach has advantages of high stiffness, high mobile and large payload capacity. The parallel...
In order to solve the curved-path path following problem for underactuated autonomous underwater vehicle (AUV) in the presence of ocean currents, this paper proposes a modified Line-of-Sight (LOS) path following control strategy. The guidance law is derived based on a new path-following error kinematic model with relative velocities of the vehicle in the Serret-Frenet frame, which makes the AUV produce...
This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
Unmanned Aerial Vehicles (UAVs) with different configurations exist to supply requirements for diverse applications. One of them is the tailsitter that gathers complementary advantages from Vertical Takeoff and Landing (VTOL) and fixed-wing UAVs. In this paper, we present a new design of a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding). This UAV is composed of typical actuators...
In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional...
The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the...
A manipulator with multiple degrees of freedom such as a hyper-redundant manipulator is generally applied in many applications ranging from medicine to space exploration. Most importantly, the multiple degrees of freedom of the manipulators allow the user to access areas where a rigid body has difficulty accessing. Kinematics analysis of the manipulator is required for the user to control and manage...
In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in non-adaptive and adaptive version, guarantees asymptotically fast convergence...
This article presents the design methodology, optimization, and computational verification of a compact, high-gain planar XY flexure mechanism. The presented mechanism consists of a decoupled XY mechanism, and a modified Scott-Russel mechanism, which maintain linear XY motion, and amplify the input piezoelectric actuator (PEA) displacement respectively. Each mechanism offers the potential for use...
In this paper, we propose an energy-efficient robotic leg design using a redundantly actuated parallel mechanism (RAPM). By adding an actuator parallel to the serially-actuated leg, we show that the legged machine can reduce mechanical energy loss. We begin with reviewing kinematic model of parallel mechanisms and then present an optimal torque distribution algorithm among redundant actuators which...
Isotropy analysis of workspace plays a critical role in improving the quality of workspace for parallel manipulators. Although various workspace determination approaches have been studied intensively for parallel manipulators in the past decades, workspace isotropy analysis for parallel manipulators has been seldom touched. This paper proposes two novel workspace geometric shape isotropy indices,...
The study proposes a new treatment for dystonia based on a dynamic wearable orthosis equipped with metallic materials of non-linear mechanical characteristics. Two boys with upper-limb dystonia were enrolled, as well as six healthy children. Fully-customised devices were made for the patients. They used the orthosis for one month and their performances were evaluated before and after the treatment...
Robotic therapy for rehabilitation of the lower extremity is currently in its early stage of development. Aiming at exploring an efficacious intervention for gait rehabilitation, we investigate the characteristics of an end-effector gait-training device that combines saddle-seat-type body-weight-supported treadmill training with functional electrical stimulation (FES). This is a task-oriented approach...
The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
The article focuses on designed construction of the exoskeleton, which significantly reproduces the kinematic structure and the range of joint movement of the human upper limb. The exoskeleton will able to control real objects i.e. loading crane, including force feedback. The designed device, composed of seven rotary joints, is equipped with the closed loop Bowden cable conduit system with linear...
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