Relevant bibliographies by topics / Robotic Design

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Robotic Design'

Author: Grafiati
Published: 9 March 2023
Last updated: 18 May 2024

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Journal articles on the topic "Robotic Design"

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Kędzierski, Jan, Paweł Kaczmarek, Michał Dziergwa, and Krzysztof Tchoń. "Design for a Robotic Companion." International Journal of Humanoid Robotics 12, no. 01 (March 2015): 1550007. http://dx.doi.org/10.1142/s0219843615500073.

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We can learn from the history of robotics that robots are getting closer to humans, both in the physical as well as in the social sense. The development line of robotics is marked with the triad: industrial — assistive — social robots, that leads from human–robot separation toward human–robot interaction. A social robot is a robot able to act autonomously and to interact with humans using social cues. A social robot that can assist a human for a longer period of time is called a robotic companion. This paper is devoted to the design and control issues of such a robotic companion, with reference to the robot FLASH designed at the Wroclaw University of Technology within the European project LIREC, and currently developed by the authors. Two HRI experiments with FLASH demonstrate the human attitude toward FLASH. A trial testing of the robot's emotional system is described.
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Joshi, Gaurav. "Innovations in Soft Robotics: Design and Control of Flexible Mechatronic Systems." Mathematical Statistician and Engineering Applications 70, no. 1 (January 31, 2021): 479–85. http://dx.doi.org/10.17762/msea.v70i1.2500.

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Soft robotics, an emerging field at the intersection of robotics and materials science, has gained significant attention in recent years due to its potential for creating highly adaptable and versatile robotic systems. Unlike traditional rigid robots, soft robotics focuses on designing and controlling flexible mechatronic systems that can mimic the natural movements and interactions of living organisms. This paper presents an overview of the recent innovations in soft robotics, specifically focusing on the design and control aspects of flexible mechatronic systems.The design of soft robots involves the integration of advanced materials and mechanisms that enable compliance and flexibility in the robot's body structure. Various materials, such as elastomers, hydrogels, and shape-memory polymers, have been explored for constructing soft robotic components that can deform and recover their shape. These materials exhibit unique properties, such as stretchability, elasticity, and self-healing capabilities, allowing soft robots to adapt to complex and dynamic environments. Additionally, the design of soft robotic systems often incorporates pneumatic or hydraulic actuation mechanisms to achieve locomotion and manipulation.In conclusion, this paper provides an overview of the recent innovations in soft robotics, focusing on the design and control of flexible mechatronic systems. Soft robots have the potential to revolutionize various fields by providing adaptive and versatile robotic systems. The integration of advanced materials, novel actuation mechanisms, and innovative control strategies has paved the way for the development of soft robots with remarkable capabilities. However, further research is needed to address the existing challenges and unlock the full potential of soft robotics in practical applications.
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Weng, Yueh-Hsuan, and Yasuhisa Hirata. "Design-Centered HRI Governance for Healthcare Robots." Journal of Healthcare Engineering 2022 (January 7, 2022): 1–8. http://dx.doi.org/10.1155/2022/3935316.

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Recent developments have shown that not only are AI and robotics growing more sophisticated, but also these fields are evolving together. The applications that emerge from this trend will break current limitations and ensure that robotic decision making and functionality are more autonomous, connected, and interactive in a way which will support people in their daily lives. However, in areas such as healthcare robotics, legal and ethical concerns will arise as increasingly advanced intelligence functions are incorporated into robotic systems. Using a case study, this paper proposes a unique design-centered approach which tackles the issue of data protection and privacy risk in human-robot interaction.
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Wagner, Hans Jakob, Martin Alvarez, Abel Groenewolt, and Achim Menges. "Towards digital automation flexibility in large-scale timber construction: integrative robotic prefabrication and co-design of the BUGA Wood Pavilion." Construction Robotics 4, no. 3-4 (November 3, 2020): 187–204. http://dx.doi.org/10.1007/s41693-020-00038-5.

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AbstractThis paper discusses the digital automation workflows and co-design methods that made possible the comprehensive robotic prefabrication of the BUGA Wood Pavilion—a large-scale production case study of robotic timber construction. Latest research in architectural robotics often focuses on the advancement of singular aspects of integrated digital fabrication and computational design techniques. Few researchers discuss how a multitude of different robotic processes can come together into seamless, collaborative robotic fabrication workflows and how a high level of interaction within larger teams of computational design and robotic fabrication experts can be achieved. It will be increasingly important to discuss suitable methods for the management of robotics and computational design in construction for the successful implementation of robotic fabrication systems in the context of the industry. We present here how a co-design approach enabled the organization of computational design decisions in reciprocal feedback with the fabrication planning, simulation and robotic code generation. We demonstrate how this approach can implement direct and curated reciprocal feedback between all planning domains—paving the way for fast-paced integrative project development. Furthermore, we discuss how the modularization of computational routines simplify the management and computational control of complex robotic construction efforts on a per-project basis and open the door for the flexible reutilization of developed digital technologies across projects and building systems.
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Shahid, Talha, Darwin Gouwanda, Surya G. Nurzaman, and Alpha A. Gopalai. "Moving toward Soft Robotics: A Decade Review of the Design of Hand Exoskeletons." Biomimetics 3, no. 3 (July 18, 2018): 17. http://dx.doi.org/10.3390/biomimetics3030017.

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Soft robotics is a branch of robotics that deals with mechatronics and electromechanical systems primarily made of soft materials. This paper presents a summary of a chronicle study of various soft robotic hand exoskeletons, with different electroencephalography (EEG)- and electromyography (EMG)-based instrumentations and controls, for rehabilitation and assistance in activities of daily living. A total of 45 soft robotic hand exoskeletons are reviewed. The study follows two methodological frameworks: a systematic review and a chronological review of the exoskeletons. The first approach summarizes the designs of different soft robotic hand exoskeletons based on their mechanical, electrical and functional attributes, including the degree of freedom, number of fingers, force transmission, actuation mode and control strategy. The second approach discusses the technological trend of soft robotic hand exoskeletons in the past decade. The timeline analysis demonstrates the transformation of the exoskeletons from rigid ferrous materials to soft elastomeric materials. It uncovers recent research, development and integration of their mechanical and electrical components. It also approximates the future of the soft robotic hand exoskeletons and some of their crucial design attributes.
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Vargas, Oscar, Omar Flor, and Carlos Toapanta. "Robotic hand design with linear actuators based on Toronto development." Athenea 1, no. 1 (September 26, 2020): 22–28. http://dx.doi.org/10.47460/athenea.v1i1.3.

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In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented. Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator. References [1]W. Diane, J. Braza and M. Yacub, Essentials of Physical Medicine and Rehabilitation, 4th ed. Philadelphia: Walter R. Frontera and Julie K. Silver and Thomas D. Rizzo, 2020, pp. 651 - 657. [2]A. Heerschop, C. Van Der Sluis, E. Otten, & R.M. Bongers, Looking beyond proportional control: The relevance of mode switching in learning to operate multi-articulating myoelectric upper-limb prostheses, . Biomedical Signal Processing and Control, 2020, doi:10.1016/j.bspc.2019.101647. [3]L. Heisnam, B. Suthar, 20 DOF robotic hand for tele-operation: — Design, simulation, control and accuracy test with leap motion. 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, doi:10.1109/raha.2016.7931886. [4]Y. Mishima, R. Ozawa, Design of a robotic finger using series gear chain mechanisms. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, doi:10.1109/iros.2014.6942961. [5]N. Dechev, W. Cleghorn, S. Naumann, Multi-segmented finger design of an experimental prosthetic hand,Proceedings of the Sixth National Applied Mechanisms & Robotics Conference, december 1999. [6]O. Flor, “Building a mobile robot,” Education for the future. Accessed on: December 29, 2019. [Online] Available: https://omarflor2014.wixsite.com/misitio. [7]Vargas, O., Flor,O., Suarez, F., Design of a robotic prototype of the hand and right forearm for prostheses, Universidad, Ciencia y Tecnología, 2019. [8]O. Vargas, O. Flor, F. Suarez, C. Chimbo, Construction and functional tests of a robotic prototype for human prostheses, Revista espirales, 2020. [9]P. PonPriya, E. Priya, Design and control of prosthetic hand using myoelectric signal. International Conference on Computing and Communications Technologies (ICCCT), 2017, doi:10.1109/iccct2.2017.7972314. [10]N. Bajaj, A. Spiers, A. Dollar, State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design. IEEE Transactions on Robotics, 2019, doi:10.1109/tro.2018.2865890.
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Mahanta, Golak Bihari, Amruta Rout, Deepak BBVL, and Bibhuti Bhusan Biswal. "Application of Meta-Heuristic Optimization Techniques for Design Optimization of a Robotic Gripper." International Journal of Applied Metaheuristic Computing 10, no. 3 (July 2019): 107–33. http://dx.doi.org/10.4018/ijamc.2019070106.

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Robotic grippers play a key player in the industrial robotics application such as pick and place, and assembly. In this article, geometric modeling of a robotic gripper is proposed and a plan is outlined to obtain optimized design parameters of the robotic gripper using various meta-heuristics techniques. The proposed system was solved in two-step methodology as geometric modeling followed by the formulation of objective functions. The developed two objective functions of the robotic gripper are complex and act as the multi-objective constraint optimization problem. Seven decision variables are chosen to develop the geometric model, and the proposed objective function for the robotic gripper is solved using different metaheuristic techniques such as ABC, FA, TLBO, ACO, and PSO algorithm. A statistical study conducted considering the 100 independent run for all the algorithms.
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Bahrin, Syed Zainal Abidin Syed Kamarul, and Khairul Salleh Mohamed Sahari. "Initial Development of a Master-Slave Controller for a Five-Fingered Robotic Hand Design by Using Pressure Sensors Comparator Technique." International Journal of Engineering & Technology 7, no. 4.35 (November 30, 2018): 765. http://dx.doi.org/10.14419/ijet.v7i4.35.23104.

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There are numerous robotic hand designs but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance and motions with the human hands. The five-fingered robotic hands are commonly controlled or governed through a master-slave system that can be accomplished by using simple preset motions or other complicated and advanced technologies. However, a five-fingered robotics hand can also be controlled by a novel approach known as pressure sensors comparator technique. This technique compares the values from the pressure sensors that are strategically located at the glove (master) and robotic hand (slave). If the values differ, the actuators will generate motions accordingly. The initial finding based on the master and slave prototypes showed that applying this technique is very challenging due to the humans' physiological diversity. Nevertheless, a solution was proposed for further studies and future developments by introducing an offset.
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Nantzios, George, Nikolaos Baras, and Minas Dasygenis. "Design and Implementation of a Robotic Arm Assistant with Voice Interaction Using Machine Vision." Automation 2, no. 4 (October 31, 2021): 238–51. http://dx.doi.org/10.3390/automation2040015.

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It is evident that the technological growth of the last few decades has signaled the development of several application domains. One application domain that has expanded massively in recent years is robotics. The usage and spread of robotic systems in commercial and non-commercial environments resulted in increased productivity, efficiency, and higher quality of life. Many researchers have developed systems that improve many aspects of people’s lives, based on robotics. Most of the engineers use high-cost robotic arms, which are usually out of the reach of typical consumers. We fill this gap by presenting a low-cost and high-accuracy project to be used as a robotic assistant for every consumer. Our project aims to further improve people’s quality of life, and more specifically people with physical and mobility impairments. The robotic system is based on the Niryo-One robotic arm, equipped with a USB (Universal Serial Bus) HD (High Definition) camera on the end-effector. To achieve high accuracy, we modified the YOLO algorithm by adding novel features and additional computations to be used in the kinematic model. We evaluated the proposed system by conducting experiments using PhD students of our laboratory and demonstrated its effectiveness. The experimental results indicate that the robotic arm can detect and deliver the requested object in a timely manner with a 96.66% accuracy.
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Pransky, Joanne. "The Pransky interview: Dr Nabil Simaan, Vanderbilt University Professor of Mechanical Engineering, Computer Science and Otolaryngology, Thought Leader in Medical Robotics." Industrial Robot: the international journal of robotics research and application 48, no. 4 (July 29, 2021): 473–77. http://dx.doi.org/10.1108/ir-03-2021-0053.

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Purpose The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD and innovator regarding his pioneering efforts. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Nabil Simaan, Professor of Mechanical Engineering, Computer Science and Otolaryngology at Vanderbilt University. He is also director of Vanderbilt’s Advanced Robotics and Mechanism Applications Research Laboratory. In this interview, Simaan shares his unique perspective and approaches on his journey of trying to solve real-world problems in the medical robotics area. Findings Simaan received his BSc, MSc and PhD in mechanical engineering from the Technion – Israel Institute of Technology. He served as Postdoctoral Research Scientist in Computer Science at Johns Hopkins University. In 2005, he joined Columbia University, New York, NY, as an Assistant Professor of Mechanical Engineering until 2010, when he joined Vanderbilt. His current applied research interests include synthesis of novel robotic systems for surgical assistance in confined spaces with applications to minimally invasive surgery of the throat, natural orifice surgery, cochlear implant surgery and dexterous bimanual microsurgery. Theoretical aspects of his research include robot design and kinematics. Originality/value Dr Simaan is a leading pioneer on designing robotic systems and mechanisms for medical applications. Examples include technologies for snake robots licensed to Intuitive Surgical; technologies for micro-surgery of the retina, which led to the formation of AURIS Surgical Robotics; the insertable robotic effector platform (IREP) single-port surgery robot that served as the research prototype behind the Titan Medical Inc. Sport (Single Port Orifice Robotic Technology). Simaan received the NSF Career award for young investigators to design new algorithms and robots for safe interaction with the anatomy. He has served as the Editor for IEEE International Conference on Robotics and Automation, Associate Editor for IEEE Transactions on Robotics, Editorial Board Member of Robotica, Area Chair for Robotics Science and Systems and corresponding Co-chair for the IEEE Technical Committee on Surgical Robotics. In January 2020, he was bestowed the award of Institute of Electrical and Electronics Engineers (IEEE) Fellow for Robotics Advancements. At the end of 2020, he was named a top voice in health-care robotics by technology discovery platform InsightMonk and market intelligence firm BIS Research. Simaan holds 15 patents. A producer of human capital, his education goal is to achieve the best possible outcome with every student he works with.
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Dissertations / Theses on the topic "Robotic Design"

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Mills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.

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This thesis investigates the problem of sensors used with mobile robots. Firstly, a colour sensor is considered, for its ability to detect objects having the three primary colours Red, Green and Blue (RGB). Secondly, an accelerometer was investigated, from which velocity was derived from the raw data using numerical integration. The purpose of the design and development of the sensors was to use them for robotic navigation and collision avoidance. This report presents the results of experiments carried out on the colour sensor and the accelerometer. A discussion of the results and some conclusions are also presented. It proved feasible to achieve the goal of detecting colours successfully but only for a limited distance. The accelerometer proved reliable but is not yet being applied in real time. Both the colour sensor and the accelerometer proved to be inexpensive. Some recommendations are made to improve both the colour sensor and the accelerometer sensors.
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Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.

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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
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Schelb, Joachim, and Hartmut Ilch. "Hygienic Handling – Hygienic Design Robotic." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-163567.

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Die MAJA-Maschinenfabrik Hermann Schill GmbH & Co. KG wurde im Jahre 1955 von Hermann Schill sen., dem Großvater der heutigen Eigentümer, in der Gemeinde Goldscheuer bei Kehl am Rhein gegründet und zählt heute zu den Marktführern der Branche. Seit 60 Jahren entwickelt, produziert und vertreibt MAJA Entschwartungs-, Entfettungs und Entvliesmaschinen, Enthäutungsmaschinen für Fisch und Geflügel, Fleischschneidesysteme und Automatisierungslösungen für die Lebensmittelbranche, außerdem Eiserzeuger zur Herstellung und Kühlung von Lebensmitteln. Lebensmittelvergiftungen, Verunreinigungen und Rückrufaktionen sind meist die Folgen von nicht konsequent durchgeführten Hygienestandards. Die Hygienerichtlinien werden zunehmend verschärft und müssen neben den Mitarbeitern vor Ort auch von den Anlagen- und Maschinenbauern eingehalten werden. MAJA hat sich die Entwicklung und Produktion einer Robotermechanik nach den höchsten Hygienestandards zur Aufgabe gemacht, da diese nach unserer Auffassung das Herzstück einer flexiblen Automatisierung darstellt und ein Maximum an Robustheit und Zuverlässigkeit auch hier unabdingbar ist.
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Bell, Timothy L. "Sea-Shore interface robotic design." Thesis, Monterey, California: Naval Postgraduate School, 2014. http://hdl.handle.net/10945/42580.

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An exoskeleton platform was developed, prototyped and tested for mobility performance in a beachfront environment. New platform, drive-train, motor-controller and wheel design were employed in the experiment. The objective was to improve on the shortcoming of previous NPS research. Three wheel-designs were tested during fixed pattern tests on grass, concrete and sand. Data suggests that, with regard to power consumption, there is a marginal difference on preferred wheel design. The sparse print round wheel showed promise in heavy vegetation; however, the WhegTM wheel proved to be the most versatile on various terrains. This suggests that a WhegTM wheel with improved round wheel characteristics would be optimal for various beachfront terrains.
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McKenzie, Jacob Elijah. "Design of robotic quadruped legs." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70444.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 167-171).
Prized for their performance on prepared surfaces, wheeled vehicles are often limited in mobility by rough and unstructured terrain. Conversely, systems that rely on legs have shown promising rough terrain performance but only a modest ability to achieve high speeds over flat terrain. The goal of this thesis is to develop four robotic legs that are capable of robust dynamic running over flat terrain. Demonstration of this ability is necessary to improve the viability of robotic legs as a propulsion system. Achieving true dynamic running presents many challenges, and the first step in prevailing over the difficulties this task presents is the development of a sound mechanical system. The leg designs presented here are based on the development of four design principles from both biological systems, dynamic simulations and previous research. These principles suggest that a leg design should: minimize passive mechanical impedance, minimize mass and inertia, maximize actuator strength and develop a balance between leg kinematics and robot use. To bring these principles into reality several unique design features were introduced including a doubly concentric actuator layout, synthetic fiber tendons to reduce bending loads in the legs, polymer leg links and the use of electric motors to their thermal limit. To accompany these technical features simulation-based design tools were developed that provide an intuitive insight into how altering design parameters of the leg may affect locomotion performance. The key feature of these tools is that they plot the forces that the leg is capable of imparting on the body for a given set of dynamic conditions. Single and multiple leg testing has shown that the legs perform well under dynamic loading and that they are capable producing vertical ground reaction forces larger than 800 N and horizontal forces larger than 150 N. Many of the design principles, features and tools developed may be used with a large variety of leg structures and actuation systems.
by Jacob Elijah McKenzie.
S.M.
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Li, Lu. "New Method for Robotic Systems Architecture Analysis, Modeling, and Design." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1562595008913311.

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Snow, Bradley William. "Prototyping a robotic disassembly testbed." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17955.

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Cabrera, Pablo Marcelo. "Robotic Fabrication Workflows for Environmentally Driven Facades." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/92001.

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Even though computer simulation of environmental factors and manufacturing technologies have experienced a fast development, architectural workflows that can take advantage of the possibilities created by these developments have been left behind and architectural design processes have not evolved at the same rate. This research presents design to fabrication workflows that explore data driven design to improve performance of facades, implementing for this purpose computational tools to handle environmental data complexity and proposes robotic fabrication technologies to facilitate façade components fabrication. During this research three design experiments were conducted that tested variations on the design to fabrication workflow, approaching the flow of information in top-down and bottom-up processes. Independent variables such as material, environmental conditions and structural behavior, are the framework in which workflow instances are generated based on dependent variables such as geometry, orientation and assembly logic. This research demonstrates the feasibility of a robotic based fabrication method informed by a multi-variable computational framework plus a simulation evaluator integrated into a design to fabrication workflow and put forward the discussion of a fully automated scenario.
Master of Science
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Scarcia, Umberto <1985&gt. "Design and Control of Robotic Hands." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7085/1/Umberto_Scarcia_tesi.pdf.

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The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.
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Scarcia, Umberto <1985&gt. "Design and Control of Robotic Hands." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7085/.

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The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.
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Books on the topic "Robotic Design"

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Design and control of intelligent robotic systems. Berlin: Springer, 2009.

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Rampersad, Hubert K. Integrated and simultaneous design for robotic assembly. Chichester: Wiley, 1994.

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Workshop on Future Research Directions in Underwater Robotics (1994 Maui, Hawaii). Underwater robotic vehicles: Design and control. Edited by Yuh Junku, University of Hawaii at Manoa. Sea Grant College Program., National Science Foundation (U.S.), and Hawaii. Dept. of Business, Economic Development & Tourism. Albuquerque, NM: TSI Press, 1995.

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Birglen, Lionel. Underactuated robotic hands. Berlin: Springer, 2008.

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Birglen, Lionel. Underactuated robotic hands. Berlin: Springer, 2008.

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International Robotic Sailing Conference (4th 2011 Lübeck, Germany). Robotic sailing: Proceedings of the 4th International Robotic Sailing Conference. Berlin: Springer, 2011.

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Valavanis, Kimon P., and George N. Saridis. Intelligent Robotic Systems: Theory, Design and Applications. Boston, MA: Springer US, 1992. http://dx.doi.org/10.1007/978-1-4615-3568-3.

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Liu, Dikai, Lingfeng Wang, and Kay Chen Tan, eds. Design and Control of Intelligent Robotic Systems. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-540-89933-4.

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Valavanis, K. Intelligent robotic systems: Theory, design, and applications. Boston: Kluwer Academic, 1992.

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Nariman-Zadeh, Nader. Genetic design of contollers for robotic manipulators. Salford: University of Salford, 1996.

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Book chapters on the topic "Robotic Design"

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Sampson, Myles B., and Larry Sass. "Interlocking Units for Robotically Fabricated Architectural Structures." In Computational Design and Robotic Fabrication, 443–53. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-8405-3_37.

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AbstractThroughout this paper, we introduce a novel design-driven method for the robotic assembly of unit-based structures. The goal of this research is to establish a method to robotically fabricate discrete structures, using pick-and-place robotic manipulation and customized 3D-printed geometric units. Thus, the methodology allows for the bespoke discretization of architectural solid models into interlocking architectural units. Investigating how design can reduce error in the robotic fabrication process, a significant feature of this research is the application of mechanical coupling for the creation of self-interlocking geometry. This method is able to correct errors in robotic manipulation for the precise robotic fabrication of architectural structures. Reducing errors in the assembly process through the design of geometric units expands the field of architectural robotics to designers. Through a series of assembled architectures, fabricated through both additive and subtractive manufacturing techniques, the research explores the idea of an automated system producing unit-based structures using pick-in-place robotics and digitally fabricated units.
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Marin Mejia, Angie L. "Robotic Interfaces Design." In Lecture Notes in Computer Science, 300–310. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-20913-5_28.

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Ye, Wei, Yingzhou Gao, and Weiguo Xu. "A Parametric Wave Joint for Robotic Fabrication of Digital Stereotomy." In Computational Design and Robotic Fabrication, 454–65. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-8405-3_38.

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AbstractThis paper explores the potential of digital stereotomy in combination with robotic fabrication to increase the precision and complexity of stone processing. To enable the application of these techniques in outdoor environments, modular joints designed for robotic assembly are necessary. Additionally, the cutting process must be efficient and minimize material waste. To address these challenges, this research proposes a parametric wave joint design that enables rapid cutting and straightforward assembly by a robotic system. The joint contains motion space allowing it to slide into accurate assembly position, enabling the robot to complete the assembly without requiring highly precise vision or gripper in outdoor situations. Furthermore, the wave joint design eliminates the need for milling, reducing the processing time. The paper presents a robotic arm-cutting method for this joint and conducts experiments using foam and robotic arm hot-wire cutting to simulate stone cutting. The feasibility of the joint is tested through the assembly of a bent column, and finite element analysis is used to compare the stresses on two joint parts under shear force with different control parameters. The study confirms the feasibility of the wave joint design for robotic assembly and the efficiency of robotic arm cutting. The findings may inform the development of modular assemblies for robotic systems in stone processing applications.
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Naveed, Kanwal, and Uzair Khaleeq uz Zaman. "Robotic Systems." In Handbook of Manufacturing Systems and Design, 69–89. Boca Raton: CRC Press, 2023. http://dx.doi.org/10.1201/9781003327523-7.

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Allouis, Elie, and Yang Gao. "Planetary Robotic System Design." In Contemporary Planetary Robotics, 11–103. Weinheim, Germany: Wiley-VCH Verlag GmbH & Co. KGaA, 2016. http://dx.doi.org/10.1002/9783527684977.ch2.

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Barrall, G., and K. Warwick. "A Modular Approach to Mobile Robot Design." In Robotic Systems, 367–74. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_42.

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Boscariol, Paolo, Alessandro Gasparetto, and Lorenzo Scalera. "Path Planning for Special Robotic Operations." In Robot Design, 69–95. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-11128-0_4.

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Song, Yang, Asterios Agkathidis, and Richard Koeck. "Augmented Bricks an Onsite AR Immersive Design to Fabrication Framework for Masonry Structures." In Computational Design and Robotic Fabrication, 385–95. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-8637-6_33.

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AbstractThe Augmented Bricks research project aims to develop an immersive design to fabrication framework for the assembly of masonry building components by incorporating robotic fabrication and augmented reality (AR) technologies. Our method incorporates two main phases: firstly, the design phase in which users’ gestures and interactions are being identified in AR for the immersive design and simulation process; secondly, an innovative robotic assembly phase in which users can control a robotic arm for assembly by interacting with the AR user interface (UI). Our framework is validated by the design and assembly of four brick-based columns. Our findings highlight that the proposed design to fabrication framework offers a novel, intuitive design inspiration and experience beyond the traditional design methods. It returns the task of assembling parametric structures with high-tech equipment back to the designers, allowing them to master and participate in the entire design to the fabrication process. The impact of this practice-based research will allow architects and designers to modify and construct their designs more simply and intuitively through the AR environment.
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Yang, DongLai, Likai Wang, and Ji Guohua. "Embedding Design Intent into Performance-Based Architectural Design—Case Study of Applying Soft Constraints to Design Optimization." In Computational Design and Robotic Fabrication, 165–74. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-8637-6_14.

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AbstractThe lack of consideration of subjective design intents hinders the application of performance-based design optimization to architectural design because building performance is not the only aspect that designers need to solve. In response, this study proposes a method integrating subjective design intents into performance-based design optimization using soft constraints. To demonstrate the method, a case study is presented, where the design optimization continuously provides feedback to the designer and helps them reformulate and redefine the design problem. The case study shows how the application of design optimization and soft constraints is able to assist designers in identifying implicit and hidden design problems and stimulate design exploration at the early design stage.
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Faraz, Ali, and Shahram Payandeh. "Robotic Extenders." In Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS), 105–29. Boston, MA: Springer US, 2000. http://dx.doi.org/10.1007/978-1-4615-4409-8_6.

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Conference papers on the topic "Robotic Design"

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Kececi, E. Faruk, and Gang Tao. "An Intelligent Robotic Walker: Mechanical Design and Control System." In ASME 2002 International Mechanical Engineering Congress and Exposition. ASMEDC, 2002. http://dx.doi.org/10.1115/imece2002-32665.

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This paper presents the mechanical and control system design of a mobile robot designed as a mobility aid for the elderly. Today, with advanced computer control and robotics technologies it is possible to design more intelligent robots, which can help elderly people in their dally life tasks. We have designed an intelligent robotic walker. The main functions of this advanced walker are: following its path with observed control, changing its structural shape to prevent unbalancing the user when walking on a slope, and braking to stop the user falling down. The base of the robot is considered another linkage in the manipulator system, in the adoption of the robot to the slope.A simulation of the system shows the effectiveness of the proposed control method.
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Akcadag, C., A. Shirkhodaie, and A. H. Soni. "Computer Control of a Flexible Robotic Cell." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0450.

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Abstract Intelligent robotic systems require a tremendous flexibility and intelligence to execute complex tasks. To facilitate task planning of intelligent robots and integrate sensory information for on-line task monitoring, there is a need to establish a communication linkage between robot controller and human operator through a computer. This paper presents the design of a generic cell controller for intelligent planning and execution of robotic cell operations and for real-time task monitoring. This paper details the architecture of hardware and software developed for the control of a commercial robot interfaced with a computer through a parallel I/O communication bus. Results indicate that by means of a relatively inexpensive setup, flexibility with regard to coordinated activities of robotic cells can be greatly increased.
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Kochanczyk, Wojciech, and Vedang Chauhan. "Design of a Robotic Vehicle for ASME Student Design Competition 2021." In ASME 2021 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/imece2021-72195.

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Abstract Robotics is a very active and diverse field with new applications found daily for emerging designs. This year ASME SDC emphasizes one such application with small RC robotic vehicles. These vehicles are primarily cargo carriers with the ability to harness wind and solar renewable energy sources to recharge their limited battery. Analog to modern electric battery-powered cars the robot utilizes a single AAA battery which was the biggest challenge of the competition. To satisfy all the requirements posed by the competition, a brand new vehicle platform was developed including both wind and solar charging capabilities. As part of the development process a new drive train, control system, wind turbine, and robot frame was developed. For performance maximization, all outsourced, as well as custom-designed components, were extensively researched and tested. Using test data and CAD software the final design was created including all the components selected during testing. This produced a successful prototype satisfying all competition requirements and being accepted to take part in SDC 2021. The maximum score achieved by the robot reached 0.4488 points using the given scoring matrix, however, it did not qualify for the final rounds of the competition. This project indicated several ideas that may improve the performance of small robots, such as the effective use of solar panels, the creation of systems with low power requirements, as well as the use of RC toys to develop more complex robotic vehicles.
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Rajendran, Sunil Kumar, and Feitian Zhang. "Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5380.

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Super-coiled polymer (SCP), one of the newly-developed artificial muscles, has various advantages over traditional artificial muscles in terms of cost, flexibility and power-to-weight ratio. This paper investigates the performance of super-coiled polymer-based actuation in underwater robotics, and presents a novel design of robotic fish using antagonistic SCP actuators. Dynamic model of the robot is derived. An example robotic fish prototype is developed and used in experiments to study SCP actuation for underwater robots. Furthermore, experimental results show that using SCP actuators in robotic fish solves the challenging heat-dissipation problem at ease, thus improving the dynamic response of SCP actuation significantly. A PID controller is designed to regulate the tail flap angle of the designed robotic fish. Simulation results of the closed-loop system are presented to validate the proposed robot design and actuation approach.
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Subramani, Guru, Aubrey M. Fisher, Moria F. Bittmann, Andrea H. Mason, Brittany G. Travers, and Michael R. Zinn. "Development of a Robotic Motor Skills Assessment System for Children With Autism." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3447.

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Autism is a developmental disorder characterized by atypical social interactions and repetitive behaviors/restricted interests[1]. It is found that children with autism also experience delayed or impaired motor skills development [2]. It would be advantageous to develop methods that precisely evaluate these motor skills impairments. The use of robots for evaluating upper limb motor competency have been looked at in the stroke literature [3]. We would like to leverage robotic tools for motor skills assessment but with focus for children with autism spectrum disorder. Robotic methodologies provide a unique way of testing upper limb motor skills. For instance, if a person holds on to the end of a robot arm and moves the robot arm in space, the robot can apply forces and prevent or assist the person with these motions. In this fashion, the robot can apply perturbations in a repeatable and precise manner with high fidelity. Since individuals with autism have anxieties interacting with other individuals[4], using an impersonal robot would alleviate the anxiety of social interactions. These individuals learn motor skills best with consistent repetition and strong reinforcement, qualities that robots provide. Therefore, a robot based evaluation strategy and therapy paradigm for children with Autism would be beneficial for the community.
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Rajendran, Sunil Kumar, and Feitian Zhang. "Learning Based Speed Control of Soft Robotic Fish." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-8977.

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Bioinspired robotics takes advantage of biological systems in nature for morphology, action and perception to build advanced robots of compelling performance and wide application. This paper focuses on the design, modeling and control of a bioinspired robotic fish. The design utilizes a recently-developed artificial muscle named super coiled polymer for actuation and a soft material (silicone rubber) for building the robot body. The paper proposes a learning based speed control design approach for bioinspired robotic fish using model-free reinforcement learning. Based on a mathematically tractable dynamic model derived by approximating the robotic fish with a three-link robot, speed control simulation is conducted to demonstrate and validate the control design method. Exampled with a three-link reduced-order dynamic system, the proposed learning based control design approach is applicable to many and various complicated bioinspired robotic systems.
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Feng, Xiaolong, Daniel Wa¨ppling, Hans Andersson, Johan O¨lvander, and Mehdi Tarkian. "Multi-Objective Optimization in Industrial Robotic Cell Design." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28488.

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It has become a common practice to conduct simulation-based design of industrial robotic cells, where Mechatronic system model of an industrial robot is used to accurately predict robot performance characteristics like cycle time, critical component lifetime, and energy efficiency. However, current robot programming systems do not usually provide functionality for finding the optimal design of robotic cells. Robot cell designers therefore still face significant challenge to manually search in design space for achieving optimal robot cell design in consideration of productivity measured by the cycle time, lifetime, and energy efficiency. In addition, robot cell designers experience even more challenge to consider the trade-offs between cycle time and lifetime as well as cycle time and energy efficiency. In this work, utilization of multi-objective optimization to optimal design of the work cell of an industrial robot is investigated. Solution space and Pareto front are obtained and used to demonstrate the trade-offs between cycle-time and critical component lifetime as well as cycle-time and energy efficiency of an industrial robot. Two types of multi-objective optimization have been investigated and benchmarked using optimal design problem of robotic work cells: 1) single-objective optimization constructed using Weighted Compromise Programming (WCP) of multiple objectives and 2) Pareto front optimization using multi-objective generic algorithm (MOGA-II). Of the industrial robotics significance, a combined design optimization problem is investigated, where design space consisting of design variables defining robot task placement and robot drive-train are simultaneously searched. Optimization efficiency and interesting trade-offs have been explored and successful results demonstrated.
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Harris, Hannah, Adia Radecka, Raefa Malik, Roberto Alonso Pineda Guzman, Jeffrey Santoso, Alyssa Bradshaw, Megan McCain, Mariana Kersh, and Holly Golecki. "Development and Characterization of Biostable Hydrogel Robotic Actuators for Implantable Devices: Tendon Actuated Gelatin." In 2022 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/dmd2022-1049.

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Abstract While the field of medical device design has made tremendous progress in recent decades, implantable devices continue to be plagued by the body’s immune response and fibrosis. The field of soft robotics uses low modulus materials that compliance match surrounding tissues to help address this issue. Traditionally, silicone has been the material of choice for soft robots. Although durable and elastic, implanted silicone often leads to fibrosis. To advance the use of soft robotics in medical devices, new materials must be explored. We hypothesize that protein-based soft robotic actuators hold promise for implantable medical devices by not only matching moduli surrounding tissues but also providing physiologically relevant chemical cues. Biocompatible soft actuators that achieve the functionality of silicone counterparts may promote integration with host cells and support long-term implant safety. Additionally, controlled degradation may hold promise for post-surgical support devices or drug delivery. Here, we develop and characterize crosslinked gelatin (GEL) actuators. The development of biomaterial soft actuators with properties comparable to synthetic analogues expands the applications of soft robotic devices for medical devices and healthcare applications.
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Arunkumar, V., Devika Rajasekar, and N. Aishwarya. "A Review Paper on Mobile Robots Applications in Search and Rescue Operations." In International Conference on Future Technologies in Manufacturing, Automation, Design and Energy. Switzerland: Trans Tech Publications Ltd, 2023. http://dx.doi.org/10.4028/p-ip2l3t.

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Mobile robots have gained popularity in recent decades, owing to its capacity to be deployed in dangerous environments without jeopardizing humans. Mobile robotic vehicles are frequently used today to carry out tasks including environmental recognition, inspecting urbanized and industrial terrains, for search and rescue activities. Presently, search and rescue robot technology is progressing from experimental and theoretical studies towards applicability. The proper execution of a mobile robotic movement in a working environment depends on being aware of the nearby obstacles and avoiding any collisions that may occur. Robots today are integrated with several smart technologies that are necessary to model the environment and localize their position, control the movements, identify obstructions, and avoid obstacles based on the terrain and surface they are employed on by applying navigational procedures. This paper explores the various mobile robotics systems and their working currently in place utilized for rescue and search operations.
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Nuriyev, Mikhail, Rudy Montayre, Austin Taylor, and Zion Tsz Ho Tse. "Soft-Robotic Endoscope Tip Design." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3528.

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Endoscopic procedures are minimally invasive and are commonly used in surgeries and various diagnoses. Endoscopes allow vision in very delicate and constricted areas of the human body. Although the endoscope is a very beneficial tool, it still has its disadvantages. Today’s metallic endoscopes are rigid and tend to be hard to manipulate on the fine scales necessary to work within the human body while minimizing harm. Endoscopes made of metal can easily puncture an internal organ if not directed properly [1]. Soft robotics is a new and unique system for designing and creating a new generation of medical devices [2]. With soft robotics, silicone-based molds can be controlled and driven using nothing more than tubing and air pressure (Fig. 1) [3]. Employing the principles of soft robotics, we are attempting to create a new kind of endoscope made from a silicon-based material. Ideally, a silicone-based endoscope would be cheap to produce and require almost no training to operate, while still maintaining the same benefits of metallic endoscopes. Endoscopes made from soft robotic actuators will have better dexterity due to the wall thickness allowing a full range of motion and flexion. In this study, it was hypothesized that additional controllability in the soft robotic endoscope design could be achieved by controlling the combination of wall thicknesses of the silicone molds during the fabrication process.
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Reports on the topic "Robotic Design"

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Griesmeyer, J. M., W. D. Drotning, A. K. Morimoto, and P. C. Bennett. Cask system design guidance for robotic handling. Office of Scientific and Technical Information (OSTI), October 1990. http://dx.doi.org/10.2172/6466486.

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Yoozbashizadeh, Mahdi, and Forouzan Golshani. Robotic Parking Technology for Congestion Mitigation and Air Quality Control Around Park & Rides. Mineta Transportation Institute, June 2021. http://dx.doi.org/10.31979/mti.2021.1936.

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A lack or limited availability for parking may have multiple consequences, not the least of which is driver frustration, congestion, and air pollution. However, there is a greater problem that is not widely recognized by the public, namely the negative effect on the use of transit systems due to insufficient parking spaces close to key transit stations. Automated parking management systems, which have been successfully deployed in several European and Japanese cities, can manage parking needs at transit stations more effectively than other alternatives. Numerous studies have confirmed that quick and convenient automobile access to park-and-ride lots can be essential to making public transit competitive with the automobile in suburban areas. Automated parking systems use a robotic platform that carries each vehicle to one of the locations in a custom designed structure. Each location is designed compactly so that considerably more vehicles can be parked in the automated garages than the traditional parking lots. Central to the design of these systems are three key technologies, namely: 1. Mechanical design and the operation of vehicle transfer, i.e., the robotic platform 2. Structural and architectural requirements to meet safety and earthquake standards, among other design imperatives, 3. Automation and intelligent control issues as related to the overall operation and system engineering. This article concerns the first technology, and more specifically the design of the robotic platform for vehicle transfers. We will outline the overall design of the robot and the shuttle, followed by a description of the prototype that was developed in our laboratories. Subsequently, performance related issues and scalability of the current design will be analyzed.
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Christian, Andrew D., and Warren P. Seering. Design Considerations for an Earth Based Flexible Robotic System. Fort Belvoir, VA: Defense Technical Information Center, April 1989. http://dx.doi.org/10.21236/ada209635.

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Vu, Quyen, and Andrey Ronzhin. Models and Algorithms for Design Robotic Gripper for Agricultural Products. "Prof. Marin Drinov" Publishing House of Bulgarian Academy of Sciences, January 2020. http://dx.doi.org/10.7546/crabs.2020.01.13.

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Arnold, Joshua. DTPH56-16-T-00004 EMAT Guided Wave Technology for Inline Inspections of Unpiggable Natural Gas Pipelines. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), September 2018. http://dx.doi.org/10.55274/r0012048.

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This project developed compact, lightweight, prototype Electro-Magnetic Acoustic Transducers (EMATs) and studied guided waves for defect detection, classification, and characterization in cast iron and steel pipes. Through lab testing, design, and Finite Element Analysis (FEA), guided wave propagation and defect interactions were evaluated, and the results were employed to optimize the prototype EMATs through successive design and testing iterations. The goal of developing EMATs for robotic inspection of unpiggable pipe was successfully achieved and demonstrated not only through prototype fabrication and testing but also through conceptual design modifications to ULC's CIRRIS XITM robot that incorporated EMATs onto the robot.
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Williams, Joshua M. Automated design synthesis of robotic/human workcells for improved manufacturing system design in hazardous environments. Office of Scientific and Technical Information (OSTI), June 2012. http://dx.doi.org/10.2172/1043512.

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Williams, Joshua M. Automated design synthesis of robotic/human workcells for improved manufacturing system design in hazardous environments. Office of Scientific and Technical Information (OSTI), November 2012. http://dx.doi.org/10.2172/1056506.

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H.B. Smartt, A.D. Watkins, D.P. Pace, R.J. Bitsoi, E.D> Larsen T.R. McJunkin, and C.R. Tolle. DESIGN OF A ROBOTIC WELDING SYSTEM FOR CLOSURE OF WASTE STORAGE CANISTERS. Office of Scientific and Technical Information (OSTI), April 2005. http://dx.doi.org/10.2172/884927.

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Pin, F. G. Improved design of the omnidirectional robotic platform for enhancement of manufacturability and commercialability. Office of Scientific and Technical Information (OSTI), September 1997. http://dx.doi.org/10.2172/539858.

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Cook, Joshua, Laura Ray, and James Lever. Dynamics modeling and robotic-assist, leader-follower control of tractor convoys. Engineer Research and Development Center (U.S.), February 2022. http://dx.doi.org/10.21079/11681/43202.

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This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.
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