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In this work we present a fast kinodynamic RRT-planner that uses dynamic nonprehensile actions to rearrange cluttered environments. In contrast to many previous works, the presented planner is not restricted to quasi-static interactions and monotonicity. Instead the results of dynamic robot actions are predicted using a black box physics model. Given a general set of primitive actions and a physics...
Inverted pendulums are very well suited to investigate friction phenomena and friction compensation because the effects of friction are so clearly noticeable. This paper analyses the effect of fiction on the Furuta pendulum. It is shown that friction in the arm drive may cause limit cycles. The limit cycles are well predicted by common friction models. It is also shown that the amplitudes of the limit...
The technology of micro-operation robot is not only an important component in MEMS (Micro Electro Mechanical Systems), but also a new highlight in robot technology as well. Especially, precision position technology driven by PZT actuator is indispensability part in micro-operation robot. This article focuses on precision position technology in micro-operation robot based on inertial stick-slip driving...
Robots are increasingly being inducted to perform a variety of complex handling operations in various industries. In contrast to use of parallel jaw grippers, automated grasping by robot fingers, offer more challenges in synthesis and task planning. In this paper, a meta-heuristic optimization method based on a modified Genetic Algorithm (GA) has been formulated for automated synthesis of high quality...
When possible, non-prehensile transportation (i.e. transporting objects without grasping them) can be faster and more efficient than prehensile transportation. However, the need to explicitly consider reaction and friction forces yields kino-dynamic constraints that are difficult to take into account by traditional planning algorithms. Based on the recently developed Admissible Velocity Propagation...
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 order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER. To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order...
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...
Robotic platforms developed to assist conventional motor therapy and to investigate human motor control have received an increasing interest over the past decades. However, for most of the proposed solutions, bulkiness and expensiveness have limited the use of such devices to specialized clinics that can afford their cost. This paper presents the H-Man, a two degree-of-freedom planar device designed...
To enable a humanoid robot to use its hand in the whole body motions, such as hanging, climbing or using a ladder, we developed a robot hand driven by a powerful but backdrivable cluster EHA. A miniature crescent trochoid pump with high discharging pressure was developed. The design of a direct casted cylinder manifold with low hydraulic friction is also presented. Results of basic experiments such...
This paper proposes a motion-reproduction method for a multi degree-of-freedom system. For extraction and reproduction of haptic information, motion-copying system was previously proposed. However motion-copying system has a drawback; it is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There...
Incidence of cancer is growing worldwide according to statistics, what increments costs of national health systems and decreases quality of life of cancer patients. Percutaneous cancer treatments can reduce the physical burden of cancer patients due to its minimally invasiveness and allow to treat small size tumors. Robotic needle placement has been proposed to overcome the difficulties of manual...
Remote robotic explorations for collapsed buildings in a severe disaster are demanded. However, rescue robots cannot approach the rubble due to safety risks. This study proposes a remote vertical exploration system for collapsed buildings with a robotic inspection system hoisted by a crane. An Active Scope Camera (ASC) has many advantages for the vertical exploration such as a light and flexible continuum...
Robots that can reliably manipulate human tools can do a diverse range of useful tasks in human environments. However, these tools are often difficult to manipulate, particularly given force requirements for applying the tool. This is often due to the mismatch between the robot's gripper and the tool handle designed for human hands. In this paper, we present the design of a low-cost universal tool...
This paper describes the reachMAN2, a rehabilitation robot with minimum degrees-of-freedom to train arm reaching and manipulation for typical ADLs, providing assistance in arm flexion/extension, forearm supination/pronation and hand opening/closing. The design, safety, control and performance evaluation of the system are presented. A handle using an innovative cam mechanism enables natural hand opening/closing...
Whole arm manipulation (WAM) allows robotic manipulators to grasp or even manipulate bulky and heavy objects. The idea is that a robot basically wraps around a bulky object to grasp it. This furthermore allows to grasp relative heavy objects, since the center of gravity of the object is located more closely to the first joints of the robot. Whole arm manipulation significantly increases the manipulation...
Model-based approaches to the planning or control of robot locomotion or manipulation requires the solution of complementarity problems that model intermittent contact. Fixed-point iteration is a method of computing fixed points of functions and there are several fixed-point theorems to guarantee the existence of fixed points. With the help of proximal point functions, the complementarity problems...
Physical exploration refers to the challenge of autonomously discovering and learning how to manipulate the environment's degrees of freedom (DOF)—by identifying promising points of interaction and pushing or pulling object parts to reveal DOF and their properties. Recent existing work focused on sub-problems like estimating DOF parameters from given data. Here, we address the integrated problem,...
This paper proposes a robust control scheme based on a disturbance observer (DOB) for flexible joint robots. In this paper, the DOB is applied only on the motor-side dynamics of the robot, and the uncertainties on the motor-side are successfully eliminated. It is shown that, to guarantee the stability, the estimated motor-side position should be fed back into the controller, which is different from...
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. A key aspect is obstacle-aided locomotion, where the snake pushes against the environment to achieve the desired propulsion. The main focus of this work is to optimally determine how to use the motor torque inputs that result in obstacle forces suitable to achieve some...
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