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1
Zhou, Yu. "On the planar stability of rigid-link binary walking robots." Robotica 21, no. 6 (October 24, 2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.
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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.
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Lohse, Manja, Marc Hanheide, Karola Pitsch, Katharina J. Rohlfing, and Gerhard Sagerer. "Improving HRI design by applying Systemic Interaction Analysis (SInA)." Interaction Studies 10, no. 3 (December 10, 2009): 298–323. http://dx.doi.org/10.1075/is.10.3.03loh.
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Social robots are designed to interact with humans. That is why they need interaction models that take social behaviors into account. These usually influence many of a robot’s abilities simultaneously. Hence, when designing robots that users will want to interact with, all components need to be tested in the system context, with real users and real tasks in real interactions. This requires methods that link the analysis of the robot’s internal computations within and between components (system level) with the interplay between robot and user (interaction level). This article presents Systemic Interaction Analysis (SInA) as an integrated method to (a) derive prototypical courses of interaction based on system and interaction level, (b) identify deviations from these, (c) infer the causes of deviations by analyzing the system’s operational sequences, and (d) improve the robot iteratively by adjusting models and implementations. Keywords: analysis tools, user studies, autonomous robots
3
Lin, Yueh-Jaw, and Aiping Yu. "Linear robust trajectory control of flexible joint manipulators." Robotica 14, no. 4 (July 1996): 375–80. http://dx.doi.org/10.1017/s0263574700019767.
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SUMMARYThis paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen in light of the on-line position and velocity feedback of the links and joint sensors. Through a simulated experimental verification, it is demonstrated that the designed simple position and velocity feedback controller, similar to that used for rigid-jointed robots, can globally stabilize the elastic-jointed robot for a bounded reference position. In addition, the tracking performance of the controller reveals that this simple control algorithm is robust in terms of joint flexibility. And the simplicity of the presented control algorithm, as compared to other model-based techniques for flexiblejoint robots, is particularly advantageous. Even though the simulated experiments are conducted on a single-link flexible joint robot, control law derived in this paper has general meaning for multi-link flexible joint robots.
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Kosaki, Takahiro, Yoshihiro Morinaga, and Manabu Sano. "Prototype Development of a Parallel-Link Robot Actuated by Pneumatic Linear Drives with Variable Inclination Mechanisms." International Journal of Automation Technology 8, no. 2 (March 5, 2014): 169–76. http://dx.doi.org/10.20965/ijat.2014.p0169.
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Parallel-link robots are generally high in power and precision because of their parallel arrangement of actuators. However, they have a workspace smaller than that of serial-link robots. In this paper, we develop a parallel-link robot prototype with pneumatic linear drives in which a mechanism for varying the actuator inclination is incorporated to enlarge the workspace. Our parallel-link robot realizes the rotational and translational motions of the end effector principally by means of the linear reciprocating motions of pneumatic linear drives mounted on the base. Auxiliary pneumatic actuators are used to adjust the inclination angles of those main pneumatic linear drives. The use of pneumatic actuators to realize the proposed parallel-link robot results in a lightweight, compact, and low-cost construction. The workspace and motion transmissibility of our parallel-link robot are analyzed through simulations based on kinematics; then, experimental investigations are carried out using the prototype.
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Lee, Ho-Hoon. "New Dynamic Modeling of Flexible-Link Robots." Journal of Dynamic Systems, Measurement, and Control 127, no. 2 (December 12, 2003): 307–9. http://dx.doi.org/10.1115/1.1902843.
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This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link deflection increases. The link elongation, however, causes certain degrees of modeling inaccuracy in association with the rotational motion of the links. Therefore, this paper proposes a new link deflection model, compatible with the bending mechanism of flexible links. Then a new nonlinear dynamic model is derived based on the new link deflection model, fixing the modeling inaccuracy of the conventional dynamic model.
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Nakakuki, Kazuo, Kazuo Yamafuji, and Osamu Shikata. "Motion Control of a Robot Composed of Three Serial Links with Curved Contour (Ist Report; Concept and Dynamic Control of the Robot)." Journal of Robotics and Mechatronics 4, no. 6 (December 20, 1992): 497–504. http://dx.doi.org/10.20965/jrm.1992.p0497.
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The authors developed several kinds of robots having a smaller number of actuators than links. Motion controls of these robots were successfully accomplished using dynamic interference forces. For example, a swing and mobile robot was developed consisting of pivoted double-link arms and a single motor. This robot is capable of shifting itself from one horizontal bar to another by utilizing vibrational excitation. In this study, we elaborated a robot composed of three serial links with a curved contour and made it perform several dynamic motions. The outer contour of each link has a large curvature, and the links are connected serially. The two outer links of the robot have the same configuration which is different from that of the central link. Two DC servomotors are installed in the two outer links. These links can move freely around the connection joints, and constitute a part of a large arc having a certain angle which is controlled by the motions of the outer links. This robot can induce large vibration on all links by swinging the two outer links while lying on the floor, and can eventually bring itself up to a standing position. On the other hand, the robot can lie down from a standing posture without sustaining a shock on impact. The robot can perform movements like those of young children on the floor. In this paper, we mainly report on the concept of the robot, the simulation procedure and experimental results for the standing-up action.
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Qian, Zhen Jie, and Ding Guo Zhang. "Impact Dynamics of Multi-Link Robots with Link and Joint Flexibility." Applied Mechanics and Materials 226-228 (November 2012): 685–92. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.685.
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The dynamic analysis of a flexible-link-joint robot colliding with its environments is presented in this paper. Kinematics of both rotary-joint motion and link deformation is described by 4×4 homogenous transformation matrices. Both the stretching deformation, bending deformation and the torsional deformation of the flexible links are considered. Furthermore, the flexibility and the mass of the joint are considered too. The concept of impact force potential energy is introduced, so that the generalized forces due to the impact force can be computed easily. The Lagrange dynamic equations are used to establish the complete mathematic model of the system with impact. Dynamics simulation of a spatial flexible-link-joint manipulator arm is given as an example to validate the algorithm presented in this paper. And the numerical results indicate that the flexibility of the link and joint have distinguished influence on the impact dynamics of the flexible robots.
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Duong Xuan, Bien. "Dynamics and control analysis of a single flexible link robot with translational joints." Science & Technology Development Journal - Engineering and Technology 3, no. 4 (December 27, 2020): first. http://dx.doi.org/10.32508/stdjet.v3i4.801.
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Modern design always aims at reducing mass, simplifying the structure, and reducing the energy consumption of the system especially in robotics. These targets could lead to lowing cost of the material and increasing the operating capacity. The priority direction in robot design is optimal structures with longer lengths of the links, smaller and thinner links, more economical still warranting ability to work. However, all of these structures such as flexible robots are reducing rigidity and motion accuracy because of the effect of elastic deformations. Therefore, taking the effects of elastic factor into consideration is absolutely necessary for kinematic, dynamic modeling, analyzing, and controlling flexible robots. Because of the complexity of modeling and controlling flexible robots, the single-link and two-link flexible robots with only rotational joints are mainly mentioned and studied by most researchers. It is easy to realize that combining the different types of joints of flexible robots can extend their applications, flexibility, and types of structure. However, the models consisting of rotational and translational joints will make the kinematic, dynamic modeling, and control becomes more complex than models that have only rotational joints. This study focuses on the dynamics model and optimal controller based on genetic algorithms (GA) for a single flexible link robot (FLR) with a rigid translational joint. The motion equations of the FLR are built based on the Finite Element Method (FEM) and Lagrange Equations (LE). The difference between flexible manipulators that have only rotational joints and others with the translational joint is presented through boundary conditions. A PID controller is designed with parameters that are optimized by the GA algorithm. The cost function is established based on errors signal of translational joint, elastic displacements of the End-Point (EP) of the FLR. Simulation results show that the errors of the joint variable, the elastic displacements (ED) are destructed in a short time when the system is controlled following the reference point. The results of this study can be basic to research other flexible robots with more joint or combine joint styles.
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Ha, Sehoon, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane. "Computational co-optimization of design parameters and motion trajectories for robotic systems." International Journal of Robotics Research 37, no. 13-14 (June 5, 2018): 1521–36. http://dx.doi.org/10.1177/0278364918771172.
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We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan consisting of trajectories for end-effectors and, optionally, for its body. The algorithm optimizes the design parameters including link lengths and actuator placements whereas concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between design and motion parameters can be established via sensitivity analysis if the robot’s movements are modeled as spatiotemporal solutions to an optimal control problem. This relationship between form and function allows us to automatically optimize the robot design based on specifications expressed as a function of actuator forces or trajectories. We evaluate our model by computationally optimizing four simulated robots that employ linear actuators, four-bar linkages, or rotary servos. We further validate our framework by optimizing the design of two small quadruped robots and testing their performances using hardware implementations.
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Oooka, Yasuhito, Haruhisa Kawasaki, and Nobuhito Takemura. "An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments." Journal of Robotics and Mechatronics 10, no. 2 (April 20, 1998): 147–53. http://dx.doi.org/10.20965/jrm.1998.p0147.
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This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.
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Kalita, Himangshu, and Jekan Thangavelautham. "Strategies for Deploying a Sensor Network to Explore Planetary Lava Tubes." Sensors 21, no. 18 (September 16, 2021): 6203. http://dx.doi.org/10.3390/s21186203.
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Recently discovered pits on the surface of the Moon and Mars are theorized to be remnants of lava tubes, and their interior may be in pristine condition. Current landers and rovers are unable to access these areas of high interest. However, multiple small, low-cost robots that can utilize unconventional mobility through ballistic hopping can work as a team to explore these environments. In this work, we propose strategies for exploring these newly discovered Lunar and Martian pits with the help of a mother-daughter architecture for exploration. In this architecture, a highly capable rover or lander would tactically deploy several spherical robots (SphereX) that would hop into the rugged pit environments without risking the rover or lander. The SphereX robots would operate autonomously and perform science tasks, such as getting inside the pit entrance, obtaining high-resolution images, and generating 3D maps of the environment. The SphereX robot utilizes the rover or lander’s resources, including the power to recharge and a long-distance communication link to Earth. Multiple SphereX robots would be placed along the theorized caves/lava tube to maintain a direct line-of-sight connection link from the rover/lander to the team of robots inside. This direct line-of-sight connection link can be used for multi-hop communication and wireless power transfer to sustain the exploration mission for longer durations and even lay a foundation for future high-risk missions.
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Dear, Tony, Blake Buchanan, Rodrigo Abrajan-Guerrero, Scott David Kelly, Matthew Travers, and Howie Choset. "Locomotion of a multi-link non-holonomic snake robot with passive joints." International Journal of Robotics Research 39, no. 5 (January 27, 2020): 598–616. http://dx.doi.org/10.1177/0278364919898503.
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Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not require or even allow for direct command over all DOFs. In particular, a snake robot with more than three links with non-holonomic constraints cannot achieve arbitrary configurations in all of its joints while simultaneously locomoting. For such a system, we assume partial command over a subset of the joints, and allow the rest to evolve according to kinematic chained and dynamic models. Different combinations of actuated and passive joints, as well as joints with dynamic elements such as torsional springs, can drastically change the coupling interactions and stable oscillations of joints. We use tools from nonlinear analysis to understand emergent oscillation modes of various robot configurations and connect them to overall locomotion using geometric mechanics and feedback control for robots that may not fully utilize all available inputs. We also experimentally verify observations and motion planning results on a physical non-holonomic snake robot.
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Walker, Ian D. "Continuous Backbone “Continuum” Robot Manipulators." ISRN Robotics 2013 (July 16, 2013): 1–19. http://dx.doi.org/10.5402/2013/726506.
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This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.
14
Oh, Yeon Taek. "Robot accuracy evaluation using a ball-bar link system." Robotica 29, no. 6 (March 15, 2011): 917–27. http://dx.doi.org/10.1017/s0263574711000130.
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SUMMARYRelatively large errors can exist in industrial robots as a result of mismatch between the controller model and the corresponding physical model. The paper outlines a novel approach for accuracy assessment and adjustment of multiaxis industrial robots through a low-cost ball-bar link system. The features of the ball-bar, which incorporated a 12 mm range digital displacement transducer in conjunction with a PC, are discussed. The ball-bar device was used in both a trammelling and circular mode of operation. This produced data which not only related to the accuracy of the robot but also enabled joint errors to be significantly reduced.
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Kim, Inho, Wonseok Jeon, and Hyunseok Yang. "Design of a transformable mobile robot for enhancing mobility." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141668713. http://dx.doi.org/10.1177/1729881416687135.
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This article proposes a design of a transformable mobile robot as a new concept of hybrid-type mobile robot in order to enhance mobility. Mobility considered in this work is based on stability, energy efficiency, and the capability to overcome obstacles. The proposed transformable mobile robot can change its bogie link lengths and wheel size. The relationships between mobility and the link length and the wheel size are studied. Its stability, energy efficiency, and the capability to overcome obstacles are compared through the simulations of three famous conventional passive bogie-type robots (Rocker-Bogie, RCL-E, and CRAB types) and the proposed robot. The simulation and experimental results show that the suggested transformable robot is superior to the conventional-type robots in terms of mobility enhancement.
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Ye, Jian Ping, and Lin Xiang Shi. "Research on Quantitative Model of Path Planning for Mobile Robots." Advanced Materials Research 268-270 (July 2011): 91–96. http://dx.doi.org/10.4028/www.scientific.net/amr.268-270.91.
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According to free configuration space, the skeleton graph of working environment of mobile robots was constructed. The length of link of skeleton graph was quantified according the actual length of pathway and presented with quantitative length matrix. The width of link of skeleton graph was quantified by the width rate of pathway and robot body, and presented with quantitative width matrix. For a pathway with width changing, the width was quantified according to the minimum width of the pathway. For multiply pathways between two vertexes, the pathways were merged into one pathway. In dynamic environment, the matrix value of link was set to -1 for a pathway with obstacles. In Dijkstra algorithm, the coordination path planning of multiply robots was implemented by comparing the remaining capacity of pathway width and the robot body.
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korayem, M. H., and A. Basu. "Formulation and numerical solution of elastic robot dynamic motion with maximum load carrying capacities." Robotica 12, no. 3 (May 1994): 253–61. http://dx.doi.org/10.1017/s0263574700017227.
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SUMMARYThis paper presents a new formulation as well as numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators. For rigid manipulators, the major limiting factor in determining the maximum allowable load (mass and mass moment of inertia) is the joint actuator capacity, while the flexibility exhibited by light weight robots or by robots operating at a higher speed dictates the need for an additional constraint to be imposed for situations where precision tracking is required, that is, the allowable deformation at the end effector. The Lagrangian assumed mode method was used to model the manipulator and load dynamics, including both joint and deflection motions. An Iterative Linear Programming (ILP) method is then used to determine the maximum allowable load of elastic robot subject to both constraints, while a general computational procedure for the multiple-link case given arbitrary trajectories is presented in detail. Symbolic derivation and simulation by using a PC-based symbolic language MATHEMATICA® was carried out for a two-link planer robot and the results further confirm the necessity of the dual constraints.Rough joint flexibility is the dominant source of compliance in today's commercial robots in future robots containing light weight flexible arms link flexibility may become most important. Hence this paper stresses link flexibility rather than joint flexibility.
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Jatsun, S. F., L. Yu Vorochaeva, A. V. Malchikov, and А. S. Yatsun. "INVESTIGATION OF THE THREE-LINK CRAWLING ROBOTS MOVEMENT ON THE NONDETERMINATED SURFACE." Proceedings of the Southwest State University 22, no. 4 (August 28, 2018): 6–14. http://dx.doi.org/10.21869/2223-1560-2018-22-4-6-14.
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Bionic principles of locomotion are the most promising for displacement and transporting equipment under the most difficult conditions. Robots gait based on the changing shape of the robots body and interaction with the surface by body parts, can find application when moving over rough terrain, in a closed space of technological and natural cavities, where the use of wheel-track or walking principle is not possible. In this paper, we propose the design of a three-link crawling robot equipped with two-coordinate active joints. The robot is equipped by supporting elements. Some supporting elements has adjustable friction coefficients, which allows realize various types of movement algorithms of the device. The article presents a mathematical model of a three-link crawling robot, which allows to study the process of robot movement, including case when the coefficients of friction of the surface under the supports are not equal to each other. In practice, the surface will most often have an inhomogeneous nondeterministic structure, which will lead to a deviation in straight-line motion. The paper proposes an algorithm and a diagram of an automatic control system that allows robot to move along a given path despite the indeterminate surface. This is achieved by using additional sensors: a digital electronic compass, an accelerometer, a GPS module. The paper presents the results of computational experiments and the results obtained during the full-scale tests of the prototype of a three-link robot motion. At the end of the article, a comparative analysis of the experimental and theoretical results confirming the adequacy of the developed mathematical model and computational algorithms is presented.
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Chu, Anh My, Cong Dinh Nguyen, Minh Hoan Vu, Xuan Bien Duong, Tien Anh Nguyen, and Chi Hieu Le. "Kinematic and Dynamic Modelling for a Class of Hybrid Robots Composed of m Local Closed-Loop Linkages Appended to an n-Link Serial Manipulator." Applied Sciences 10, no. 7 (April 8, 2020): 2567. http://dx.doi.org/10.3390/app10072567.
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Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method.
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Yu, Suyang, Changlong Ye, Guanghong Tao, Jian Ding, and Yinchao Wang. "FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism." Industrial Robot: the international journal of robotics research and application 48, no. 4 (June 4, 2021): 602–13. http://dx.doi.org/10.1108/ir-02-2021-0026.
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Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.
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Red, W. E., H. V. Troung-Cao, and K. H. Kim. "Robot Path Planning in Three-Dimensions Using the Direct Subspace." Journal of Dynamic Systems, Measurement, and Control 109, no. 3 (September 1, 1987): 238–44. http://dx.doi.org/10.1115/1.3143851.
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An efficient subspace approach is used to find collision-free paths in congested workspaces for a general class of robots having revolute and/or prismatic joints. A three-dimensional joint space is formed by mapping the workspace obstacles represented by polyhedral elements into the robot’s primary degrees-of-freedom comprising the first three robot links, also modeled by polyhedral elements. In this approach the secondary degrees-of-freedom (>3), including objects grasped by the robot end-effector, are bounded by a box attached to the distal primary link. The joint space obstacles represent forbidden space that limits the allowable robot configurations. Paths are then planned on a two-dimensional direct subspace of the joint space using graphics cursor input. Methods of iteration elimination are used to reduce the computational time required to transform obstacles into the joint space.
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Rosenberg, Maor, Hae Won Park, Rinat Rosenberg-Kima, Safinah Ali, Anastasia K. Ostrowski, Cynthia Breazeal, and Goren Gordon. "Expressive Cognitive Architecture for a Curious Social Robot." ACM Transactions on Interactive Intelligent Systems 11, no. 2 (July 19, 2021): 1–25. http://dx.doi.org/10.1145/3451531.
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Artificial curiosity, based on developmental psychology concepts wherein an agent attempts to maximize its learning progress, has gained much attention in recent years. Similarly, social robots are slowly integrating into our daily lives, in schools, factories, and in our homes. In this contribution, we integrate recent advances in artificial curiosity and social robots into a single expressive cognitive architecture. It is composed of artificial curiosity and social expressivity modules and their unique link, i.e., the robot verbally and non-verbally communicates its internally estimated learning progress, or learnability, to its human companion. We implemented this architecture in an interaction where a fully autonomous robot took turns with a child trying to select and solve tangram puzzles on a tablet. During the curious robot’s turn, it selected its estimated most learnable tangram to play, communicated its selection to the child, and then attempted at solving it. We validated the implemented architecture and showed that the robot learned, estimated its learnability, and improved when its selection was based on its learnability estimation. Moreover, we ran a comparison study between curious and non-curious robots, and showed that the robot’s curiosity-based behavior influenced the child’s selections. Based on the artificial curiosity module of the robot, we have formulated an equation that estimates each child’s moment-by-moment curiosity based on their selections. This analysis revealed an overall significant decrease in estimated curiosity during the interaction. However, this drop in estimated curiosity was significantly larger with the non-curious robot, compared to the curious one. These results suggest that the new architecture is a promising new approach to integrate state-of-the-art curiosity-based algorithms to the growing field of social robots.
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Esposito, Joel M. "Maintaining Wireless Connectivity Constraints for Robot Swarms in the Presence of Obstacles." Journal of Robotics 2011 (2011): 1–12. http://dx.doi.org/10.1155/2011/571485.
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The swarm paradigm of multirobot cooperation relies on a distributed architecture, where each robot makes its own decisions based on locally available knowledge. But occasionally the swarm members may need to share information about their environment or actions through some type of ad hoc communication channel, such as a radio modem, infrared communication, or an optical connection. In all of these cases robust operation is best attained when the transmitter/receiver robot pair is (1) separated by less than some maximum distance (range constraint); and (2) not obstructed by large dense objects (line-of-sight constraint). Therefore to maintain a wireless link between two robots, it is desirable to simultaneously comply with these two spatial constraints. Given a swarm of point robots with specified initial and final configurations and a set of desired communication links consistent with the above criteria, we explore the problem of designing inputs to achieve the final configuration while preserving the desired links for the duration of the motion. Some interesting conclusions about the feasibility of the problem are offered. A potential field-based optimization algorithm is provided, along with a novel composition scheme, and its operation is demonstrated through both simulation and experimentation on a group of small robots.
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Shao, Ming-Lei, Rui-Jun Yan, Jing Wu, Ji-Yeong Lee, Chang-Soo Han, Dong-Ik Shin, and Kyoo-Sik Shin. "Sensor-based exploration for planar two-identical-link robots." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 4 (December 3, 2015): 655–64. http://dx.doi.org/10.1177/0954406215618684.
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We present a new roadmap based on a generalized Voronoi graph for two-identical-link mobile robots to explore an unknown planar environment. It is called the L2-generalized Voronoi graph and is defined in terms of workspace distance measurements using only sensor-provided information, with the robot having the maximum distance from obstacles, and is therefore optimum in a point of view for exploration and obstacle avoidance. The configuration of the robot possesses four degrees of freedom, and hence the roadmap is one-dimensional in an unknown configuration space [Formula: see text]. The L2-generalized Voronoi graph is not always connected, and so is connected with an additional structure called the L2R-edge, where the robot is tangent to a GVD structure with the same orientation for the two links. This roadmap is termed L2 hierarchical generalized Voronoi graph. The L2 hierarchical generalized Voronoi graph includes two structures: the L2 hierarchical generalized Voronoi graph and the L2R edge. Although the condition of two identical links looks somewhat constraining, the L2 hierarchical generalized Voronoi graph is still worth pursuing because the case is very common in the engineering environment.
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Buckingham, David, and Josh Bongard. "Physical Scaffolding Accelerates the Evolution of Robot Behavior." Artificial Life 23, no. 3 (August 2017): 351–73. http://dx.doi.org/10.1162/artl_a_00236.
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In some evolutionary robotics experiments, evolved robots are transferred from simulation to reality, while sensor/motor data flows back from reality to improve the next transferral. We envision a generalization of this approach: a simulation-to-reality pipeline. In this pipeline, increasingly embodied agents flow up through a sequence of increasingly physically realistic simulators, while data flows back down to improve the next transferral between neighboring simulators; physical reality is the last link in this chain. As a first proof of concept, we introduce a two-link chain: A fast yet low-fidelity ( lo-fi) simulator hosts minimally embodied agents, which gradually evolve controllers and morphologies to colonize a slow yet high-fidelity ( hi-fi) simulator. The agents are thus physically scaffolded. We show here that, given the same computational budget, these physically scaffolded robots reach higher performance in the hi-fi simulator than do robots that only evolve in the hi-fi simulator, but only for a sufficiently difficult task. These results suggest that a simulation-to-reality pipeline may strike a good balance between accelerating evolution in simulation while anchoring the results in reality, free the investigator from having to prespecify the robot's morphology, and pave the way to scalable, automated, robot-generating systems.
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Mediavilla, Margarita, José Luis González, Juan Carlos Fraile, and José Ramón Perán. "Reactive approach to on-line path planning for robot manipulators in dynamic environments." Robotica 20, no. 4 (June 24, 2002): 375–84. http://dx.doi.org/10.1017/s0263574702004071.
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This paper describes a new approach to path planning of robot manipulators with many degrees of freedom. It is designed for on-line motion in dynamic and unpredictable environments. The robots react to moving obstacles using a local and reactive algorithm restricted to a subset of its configuration space. The lack of a long-term view of local algorithms (local minima problems) is solved using an off-line pre-planning stage that chooses the subset of the configuration space that minimises the probability of not finding collision free paths. The approach is implemented and tested on a system of three Scorbot-er IX five link robots.
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Kobayashi, Yoshitake, and Kazuo Yamafuji. "Load Estimation and Compensation Control of a Vertical Two-Link Robot." Journal of Robotics and Mechatronics 2, no. 2 (April 20, 1990): 107–13. http://dx.doi.org/10.20965/jrm.1990.p0107.
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It is widely recognized that the industrial robots used in production lines or in other engineering fields are installed with comparatively higher rated actuators and have higher rigidity than required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The authors have developed and examined two kinds of load estimation and compensation control methods for a vertical-type manipulating robot, which are based on gravity estimation-compensation and fuzzy-set theory. It is confirmed experimentally that although both compensating methods are useful, the fuzzy theory is much better than the gravity compensation method.
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Abdulrab, Hakim Q. A., Ili Najaa Aimi Mohd Nordin, Muhammad Rusydi Muhammad Razif, and Ahmad Athif Mohd Faudzi. "Snake-like Soft Robot Using 2-Chambers Actuator." ELEKTRIKA- Journal of Electrical Engineering 17, no. 1 (April 16, 2018): 34–40. http://dx.doi.org/10.11113/elektrika.v17n1.39.
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Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa.
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XUE, QING, and PHILLIP C. Y. SHEU. "PATH PLANNING FOR TWO COOPERATING ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 04, no. 02 (June 1990): 269–301. http://dx.doi.org/10.1142/s0218001490000186.
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We investigate the problem of finding collision-free paths for two planar robots which coordinately carry a rectangular object from an initial position and orientation to a destination position and orientation in a cluttered 2-D environment. The robot arms and the carried object construct a 6-link closed chain. The path planning problem for the 6-link closed chain is solved by using two major algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations (CFFCs) of the 6-link closed chain in each discrete interval of two joint angles. The collision-free path finding algorithm builds a connection graph by CFFCs and the transitions between any two groups of CFFCs at adjacent joint intervals. Then a graph search method is used to find a collision-free path for each joint of the robots.
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Fei, Yanqiong, Zigang Zhao, and Libo Song. "A Method for Modular Robots Generating Dynamics Automatically." Robotica 19, no. 1 (January 2001): 59–66. http://dx.doi.org/10.1017/s026357470000285x.
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In this paper a method for the automatic generation of dynamics for modular robots is presented. A modular reconfigurable robot consists of link modules and joint modules of various specifications. We analyze the abstract architecture of modular robots. A total of nine types of connecting forms and three types of joint forms are identified with reference to their own systems. The geometric relationships are derived by the group theory. According to the modular idea, the formulations of the velocity, acceleration and other essential equations of the link module and the joint module are formed compensatively and recursively. Then the dynamic model is generated automatically by a compensative and recursive method.
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Kurono, Shigeru, Shigeto Aramaki, and Yoshikazu Fujino. "Development of a Personal Robot with the Modularized Link Units." Journal of Robotics and Mechatronics 5, no. 3 (June 20, 1993): 306–13. http://dx.doi.org/10.20965/jrm.1993.p0306.
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If the links which can be used as the components of a robot are organized in a manner of ""modularized units"" equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a ""personal robot"" and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.
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Celentano, Laura, and Raffaele Iervolino. "New Results on Robot Modeling and Simulation." Journal of Dynamic Systems, Measurement, and Control 128, no. 4 (April 5, 2006): 811–19. http://dx.doi.org/10.1115/1.2361319.
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In this paper the possibility of simulating the robot forward dynamics by making use of the inertia matrix and of the kinetic energy gradient only is demonstrated. Such method is shown to be simpler and numerically more efficient than the classical approaches. In the case of planar robots with revolute joints and link centers of mass belonging to the plane containing the rotating axes of the joints, theorems are formulated and demonstrated providing a relatively fast and simple method of calculation for both the inertia matrix and the gradient of the kinetic energy. This allows obtaining a simple and efficient tool to simulate practical robots with rigid links and can also be particularly useful for studying robots with flexible links. By using the proposed approach, the model of a practical planar robot, designed by the computer aided design software package CATIA™, is easily developed and implemented. The simulation results when the gradient of the kinetic energy is computed analytically versus numerically are compared to illustrate that the computational costs are relatively low and the accuracy is high.
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Lenar?i?, Jadran. "On hyper-redundant multiple-link robots." Laboratory Robotics and Automation 8, no. 1 (1996): 11–16. http://dx.doi.org/10.1002/(sici)1098-2728(1996)8:1<11::aid-lra2>3.0.co;2-#.
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Vossoughi, G. R., and A. Karimzadeh. "Impedance control of a two degree-of-freedom planar flexible link manipulator using singular perturbation theory." Robotica 24, no. 2 (November 17, 2005): 221–28. http://dx.doi.org/10.1017/s0263574705002055.
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In this article, impedance control of a two link flexible link manipulators is addressed. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time by the authors. Impedance Control provides a universal approach to the control of flexible robots, in both constrained and unconstrained maneuvers. The initial part of the paper concerns the use of Hamilton's principle to derive the mathematical equations governing the dynamics of joint angles, vibration of the flexible links and the constraining forces. The approximate elastic deformations are then derived by means of the Assumed-Mode-Method (AMM). Using the singular perturbation method, the dynamic of the manipulator is decomposed into fast and slow subsystems. The slow dynamic corresponds to the rigid manipulator and the fast dynamic is due to vibrations of flexible links. The sliding mode control (SMC) theory has been used as the means to achieve the 2nd order target impedance for the slow dynamics. A controller based on state feedback is also designed to stabilize the fast dynamics. The composite controller is constructed by using the slow and fast controllers. Simulation results for a 2-DOF robot in which only the 2nd link is flexible confirm that the controller performs remarkably well under various simulation conditions.
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Sanders, David Adrian, Ian Stott, David Robinson, and David Ndzi. "Analysis of successes and failures with a tele-operated mobile robot in various modes of operation." Robotica 30, no. 6 (November 23, 2011): 973–88. http://dx.doi.org/10.1017/s0263574711001214.
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SUMMARYThe effect on failure rates of the way tele-operators interact with mobile robots is investigated. Human tele-operators attempted to move a robot through progressively more complicated environments with reducing gaps, as quickly as possible. Tele-operators used a joystick and either watched robots, while operating them, or used a computer screen to view scenes remotely. Cameras were either mounted on the robot to view the space ahead of the robot or mounted remotely so that they viewed both the environment and robot. Tele-operators completed tests both with and without sensors. Both an umbilical cable and a radio link were used.
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Si, Wenhui, Lingyan Zhao, Jianping Wei, and Zhiguang Guan. "Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks." Measurement and Control 54, no. 1-2 (January 2021): 102–15. http://dx.doi.org/10.1177/0020294020983383.
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Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.
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Udomsiri, Sakol, Hideki Taguchi, Tomoyuki Takahashi, Masahiro Iwahashi, and Tetsuya Kimura. "Functionally Layered Video Coding Based on JP2K for Robot Vision Network." Journal of Robotics and Mechatronics 21, no. 6 (December 20, 2009): 758–64. http://dx.doi.org/10.20965/jrm.2009.p0758.
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We propose video coding that extracts minimum information for robots to reduce data transmission in a robot vision network where a ceiling map is generated from ceiling video from an indoor search robot and shared among search robots. Video signals are conventionally decomposed into several components and only visually significant components are transmitted. We propose that only required components for ceiling map generation and auto localization be designated as the basic layer and that other components be assigned as the enhancement layer. Only the basic layer is transmitted and received in regular communication between the robots. The enhancement layer is additionally transmitted to enable users to browse images. Experiments verified that transmission data volume was reduced by 15%, enabling more users and robots to link up in networks whose communication channel transmission is limited.
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Abardeh, Mahdi Esmaeilzadeh, and Alireza Akbarzadeh. "Online Trajectory Generation of a 2 Link Robot in Presence of Obstacle." Advanced Materials Research 488-489 (March 2012): 1772–76. http://dx.doi.org/10.4028/www.scientific.net/amr.488-489.1772.
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Online coordination of multiple robots working on a single workstation requires special attention. In these applications it is generally necessary that the robot arm follow a desired path in workspace so that it does not crash with any obstacle or the other robots. In this paper a two link planar robot crossing a rectangular obstacle is considered. The proposed idea is to define the relationship between obstacle's dimensions and the required joints trajectories parameters which allow the robot to reach its destination in the presence of an obstacle. First, the desired path for robot avoiding the obstacle is defined using a fourth degree polynomial. Corresponding robot joints trajectories are defined using a sinusoidal function with four parameters. Next, Design of Experiments (DOE) technique is utilized. Three levels for width and length of the obstacle are used as input and a full factorial DOE with nine experiments is defined. Instead of using the inverse kinematics, Particle Swarm Optimization (PSO) algorithm is used to obtain parameters of the robot joint sinusoidal functions. A second degree regression is used to obtain the relationship between each of the four sinusoidal function parameters and the obstacle dimensions. The obtained regression equations allow online changes to the trajectory as obstacle dimensions change. Four case studies, different obstacle dimensions, are simulated using the two link robot. The results show that using the obtained relationships the robot reaches its desired destination, with high accuracy, while avoiding the obstacles.
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Pham, CM, W. Khalil, and C. Chevallereau. "A nonlinear model-based control of flexible robots." Robotica 11, no. 1 (January 1993): 73–82. http://dx.doi.org/10.1017/s0263574700015459.
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SUMMARYThis paper present a nonlinear, model-based control of flexible link robots. The control task is formulated requiring rigid joints variables to track reference time-varying trajectory and elastic deflection to be damped. The stability and robustness properties of the control scheme are analyzed from a passive energy consideration. A direct adaptive version is also proposed. Extensive evaluation of this approach is performed using experimental validations involving a single-flexible-link and a two-flexible-link horizontal robot. Experimental results show significant performances of the controller under relatively severe working conditions: 700% payload to arm ratio and 20% elastic deflection ratio at highest acceleration stages.
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Janowski, Mateusz, Danuta Jasińska-Choromańska, Dymitr Osiński, and Marcin Zaczyk. "Universal compact lower limb turning module intended for use in orthotic robots." MATEC Web of Conferences 157 (2018): 03011. http://dx.doi.org/10.1051/matecconf/201815703011.
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In this paper, a model of an orthotic robot’s lower limb rotation system is presented. The system is intended for use in typical contemporary orthotic robots such as the ‘Veni-Prometheus’ System for Verticalization and Aiding Motion designed at the Faculty of Mechatronics, Warsaw University of Technology. In the paper, the state of the art is briefly stated, with the relatively low number of orthotic robots allowing realization of pivoting turns highlighted. The intended two-stage pivoting turning movement is analyzed in detail and the operating conditions as well as limitations of the turning module are indicated. The conception of a turning module introduces additional degree of freedom to the existing orthotic robot designs by realizing the rotation about the lengthwise axis in the thigh link. A three-dimensional model and its analysis are shown. The proposed design ensures the necessary movement of the lower limb and the torso of an impaired person during the execution of pivoting turn while remaining compact in order to ease the introduction of the turning system to different orthotic robot designs.
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Zhong, Yong, Luohua Hu, and Yinsheng Xu. "Recent Advances in Design and Actuation of Continuum Robots for Medical Applications." Actuators 9, no. 4 (December 19, 2020): 142. http://dx.doi.org/10.3390/act9040142.
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Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.
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Cui, Yi An, and Yi Jun Dai. "Robots Active Linking in Unknown Environment." Advanced Materials Research 186 (January 2011): 84–88. http://dx.doi.org/10.4028/www.scientific.net/amr.186.84.
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In order to provide effective communication link between two robots while physical link did not exist in unknown environments, a method of active communication link building on demand was proposed. Based on some model assumptions and definitions, a strategy named SSS was presented to build communication link in unknown environment by using link-increasing and link-rotating. Then the corresponding basic algorithm and improved algorithm were discussed and compared in simulation. The simulation indicated that communication link could be built successfully by employing these algorithms. And the improved algorithm had more optimal performances than basic one by estimating energy consumption and time consumption in link building process.
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Brown, Alan S. "Face to Face with Autism." Mechanical Engineering 140, no. 02 (February 1, 2018): 35–39. http://dx.doi.org/10.1115/1.2018-feb-2.
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This article discusses features and benefits of robots that promise to change the way therapists help children and adults with autism and pave the way for more social robots in the future. Robots can enable therapists to deliver treatment more effectively, and can prompt classroom teachers, aides, and parents with limited training through the steps needed to teach an autistic child a skill. This could make intensive therapy more accessible and affordable. The Milo robot works as a force multiplier, reinforcing skills taught by human teachers. PABI’s electronic and servo insides are guarded by spring steel ribs and a plush, stuffed exterior. Autism robots can manage mechanics automatically, and they typically link with a tablet and as the child chooses the cards, the robot automatically records data more accurately than any human could do and immediately displays new cards. While Milo and PABI are very different robots, designers want to build robots that adapt to individual children. They hope to do this by adding better sensors and algorithms.
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Al-Furati, Israa, and Osama Rashid. "Smart Navigation with Static Polygons and Dynamic Robots." Iraqi Journal for Electrical and Electronic Engineering 17, no. 1 (March 7, 2021): 1–9. http://dx.doi.org/10.37917/ijeee.17.1.5.
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Due to the last increase in data and information technology, the need to use robots in many life areas is increased. There is a great diversity in this field, depending on the type of task required, as the robot enters the parcels of air, land, and water. In this paper, a robot's mission designed to move things is concentrated, relying on line-tracing technology that makes it easy to track its path safely, the RFID is distributed in its approach. When the robot reads the RFID tag, it stops until it raises the load from above, the robot continues its path toward the target. When an obstacle obstructs the robot path, the robot deviates and returns after a while to its previous approach. All this technology is implemented using a new algorithm which is programmed using the visual basic program. The robot designed to transfer the stored material is used according to a site known as an identifier that is identified by the RFID value, where the robot is programmed through a microcontroller and a unique store program that determines the current location and the desired location, then is given the task for the robot to do it as required. The robot is controlled using an ATmega controller to control other parts connected to the electronic circuit, the particular infrared sensor, and ultrasound to avoid potential obstacles within the robot's path to reach the target safely. In addition to this, the robot is made up of an RFID sensor to give unique to each desired target site. Through the console, it is possible to know the link indicated by the target. The H-bridge is also used to obtain a particular command and guide the robot as needed to move freely in all directions and a DC motor which is unique for moving wheels at the desired speed, and Bluetooth for programmable and secure wireless transmission and reception with all these parts through a unique program that also uses application inventory. The robot has proven to be a great success in performing the required task through several tests that have been practically performed.
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Young, L., and J. Duffy. "A Theory for the Articulation of Planar Robots: Part I—Kinematic Analysis for the Flexure and the Parallel Operation of Robots." Journal of Mechanisms, Transmissions, and Automation in Design 109, no. 1 (March 1, 1987): 29–36. http://dx.doi.org/10.1115/1.3258781.
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This paper is the first of a series of papers developing a theory for the articulation of planar robots. Here, end effectors are considered to be moving on specified trajectories regardless of orientation, which is considered to be a free parameter, and which together with the remaining link orientations can be used to flex and hence articulate the arms to avoid interference. The theory is based on the geometry of the robots and workspace structures. An affine transformation is introduced for determining the relative location of pairs of links which are modeled by line segments.
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Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (January 1, 2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.
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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
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Dixon, W. E., E. Zergeroglu, D. M. Dawson, and M. W. Hannan. "Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots." Robotica 18, no. 3 (May 2000): 325–36. http://dx.doi.org/10.1017/s0263574799002167.
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This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.
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My, Chu A., and Duong X. Bien. "New development of the dynamic modeling and the inverse dynamic analysis for flexible robot." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142094334. http://dx.doi.org/10.1177/1729881420943341.
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When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a prismatic joint and a revolute joint. Moreover, a new bisection method-based algorithm is proposed to analyze the inverse dynamic responses of the flexible robots. Since the bisection method is a rapid converging method in mathematics, the proposed algorithm is effectively applicable to solving the inverse dynamic problem of a flexible robot in a robust manner. Last, the numerical simulation results show the effectiveness and the robustness of the proposed method.
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Stamboliev, Eugenia. "On Care Robots and the Ethics of Tracking." Információs Társadalom 20, no. 2 (October 20, 2020): 101. http://dx.doi.org/10.22503/inftars.xx.2020.2.7.
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This paper establishes a transdisciplinary exploration of care robots and their tracking capacity as an ethical performance. It does this to highlight the concerns around the ubiquity and availability of data in care contexts. In my attempt to scrutinise care robots beyond being humanoid and sociable actors, but instead as data tracking technologies, I link robot ethics, media and surveillance studies with posthuman and performative ethics to redefine tracking as an ethical microcosm within care robots. I do this, first, by challenging how to look at care robots and robot interactivity, particularly in reference to tracking as an ethical, not necessarily moral, question of interactivity and relationality. This angle will challenge the ethical timing and evaluation around tracking as an inherently ethical relation. Second, by arguing that the common ethical views on tracking are about concerns of privacy intrusion and data infringement while overlooking that a main ethical issue might not be a robotic intention to spy but the availability of data because of robots. Consequently, what deserves more attention in the ethics of robots is the growing ubiquity of care robots, the sensitivity of care contexts, and the acknowledgement of data appropriation; the latter being especially important considering the vulnerability of health care environments, and the growing commercial value of health data.
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Savage, Tony. "Shaping: The Link Between Rats and Robots." Connection Science 10, no. 3-4 (September 1998): 321–40. http://dx.doi.org/10.1080/095400998116477.
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