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This paper presents a novel spherical rolling robot and the design procedure of an adaptive sliding mode controller for the proposed robot. Towards containing the uncertainties, the sliding mode controller is utilized and simulation tests represent the effectiveness of this method. However, the chattering phenomenon in the robot operation is the main insufficiency of this controller. Hence, in order...
In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed...
This paper discusses the Clavel's Delta parallelrobot and proposes an alternate solution to its kinematics/dynamic model. We meant to integrate these models into ona small electrical driving circuit that integrates an onboard microcontroller.We designed the solution by taking into accountthe reduced computing capability of small embedded systems.Direct kinematics (DK), differential kinematics, both...
Picking and placing objects on the table for an assistive humanoid robot requires good coordination and motion strategies. Obstacle avoidance is one of the main factor needs to be considered. In this paper, the arm motion generation for obstacle avoidance is formulated as an optimization problem. Multi-Objective Genetic Algorithm (MOGA) is utilized to generate the neural controller, optimizing three...
Capturing of the intended action of the patient and provide assistance as needed is required in the robotic rehabilitation device. The intended action data that can be extracted from surface Electromyography (sEMG) signal may include the intended posture, intended torque, intended knee joint angle and intended desired impedance of the patient. Utilizing such data to drive robotic assistive device...
For individuals with a motor skill disorder, repetition of recommended therapy exercises is essential for motor improvement. Moreover, external feedback of performance is an important component of therapy such that individuals can correct their exercises and improve their performance. However, direct feedback is typically only provided by an expert therapist during weekly or monthly therapy sessions,...
This article describes the design and implementation of a 3D printer prototype based on a delta parallel robot, which decreases printing time without losing quality in the final product. In addition, the free software, Repertier, was used for programming and GUI. For height calibration of printer dock, an automatic leveling system was develop through an inductive sensor in order to avoid manual handling.
Continuum tubular robots, which are constructed by telescoping pre-curved elastic tubes, are capable of balancing the force application and steerability during minimally invasive surgeries. These devices are able to reach the desired surgical sites in body cavities without colliding with critical blood vessels, nerves and tissues. However, the motion planning of continuum tubular robots is quite challenging...
In this paper, a fast reactive obstacle avoidance approach for omnidirectional driving is presented. The method is based on the dynamic window approach, but uses a cuboid instead of a window to limit the 3-dimensional search space accordingly to the dynamic constraints of the robot. Besides the kinematics and dynamics, the presented approach also considers the shape of a robot. To cope with the effort...
In this paper a unified motion control and planning algorithm dedicated for the waypoint following task realized by a skid-steering is presented. In order to reduce excessive slip effects between robot wheels and ground it is assumed that the vehicle moves with bounded velocities and accelerations. The motion controller has been designed using formal methods to ensure asymptotically stable tracking...
The pectoral fin is a major source of thrust generation for fish utilizing median or paired fins (MPF) mode. Along with the pectoral fin, spanwise flexibility plays a major role in the generation of thrust. This paper investigates the effect of spanwise flexibility on propulsion performance using theoretical and experimental studies. For this study, the kinematic model of oscillating pectoral fin...
Concentric tube robots are catheter-sized robots that are ideally suited for navigating along natural anatomical pathways and treating deep-seated pathologies. Their telemanipulation in dynamic environments requires on-line computation of inverse kinematics with simultaneous avoidance of anatomical obstacles. Moreover, unstable configurations, which arise for elongated curved robots that navigate...
The Harvard Robobee is a fly-sized aerial vehicle that can perform controlled flight maneuvers. But this robot is unable to control its yaw or heading angle to a desired value. Motivated by this deficiency, we propose a new method to produce yaw-axis rotations. Termed wriggle-steering, it consists of driving body oscillations around its two other rotational axes. Because no torque is applied directly...
In this work, we present an algorithm for improving collaborator performance on sequential manipulation tasks. Our agent-decoupled, optimization-based, task and motion planning approach merges considerations derived from both symbolic and geometric planning domains. This results in the generation of supportive behaviors enabling a teammate to reduce cognitive and kinematic burdens during task completion...
This paper presents a novel variable transmission system that is based on the concept of digital hydraulics. In the proposed system, sets of rolling-diaphragm cylinders are mounted via different effective lever arms to an input and output joint. A variable subset of these cylinders is connected via three-way two-position on/off valves to a common hydraulic manifold. This introduces a controllable...
The identification of the dynamic model of a robotic manipulator represents a fundamental step for designing high performance model-based controllers. Despite the huge number of works presented on this topic, the symbolic dynamic model reduction (i.e., the identification of the set of parameters observable through the measure of joint torques and positions) still remain a challenging task, characterized...
Given an articulated rigid body, we define the problem of estimating its dynamics as the problem of computing all the forces and accelerations acting on the bodies which constitute the articulated system. Similarly, we define the state estimation problem as the problem of computing the system positions and velocities. In the present paper we propose a framework for simultaneous state and dynamics...
This paper presents a systematic flight controller design based on the mathematics of parametrized manifolds and calculus of variations for the Bat Bot (B2), which possesses many articulated wings. Wing kinematics and morphological properties are crucial in the powered flight of flying vertebrates. The articulated skeleton of these mammals, which contains many degrees of actuation and underactuation,...
We present a framework for parameter and state estimation of personalized human kinematic models from motion capture data. These models can be used to optimize a variety of human-robot collaboration scenarios for the comfort or ergonomics of an individual human collaborator. Our approach offers two main advantages over prior approaches from the literature and commercial software: the kinematic models...
Effective and stable execution of a remote manipulation task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This...
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