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Simultaneous tactile–morphological perception enables sensorimotor autonomy in soft robots
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Development of Cable-driven Anthropomorphic Robot Hand
IEEE Robotics and Automation Letters, 2021This letter presents a novel design of an anthropomorphic robotic hand. By using a parallel plate knuckle with a universal joint, it is possible to achieve two degree of freedom (DOF) at a joint of a finger with wide working range in the proposed design.
Sungjae Min, Sooyeong Yi
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International Journal of Control, Automation and Systems, 2020
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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A Miniature Cable-Driven Robot for Crawling on the Heart
2005 IEEE Engineering in Medicine and Biology 27th Annual Conference, 2005This document describes the design and preliminary testing of a cable-driven robot for the purpose of traveling on the surface of the beating heart to administer therapy. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive cardiac surgery. Previous versions of the robot have been
Patronik N. A. +2 more
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On the forward kinematics of cable-driven parallel robots
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015Most cable-driven parallel robots are kinematically over-constrained mechanisms. This results in a non-trivial computation of the forward kinematic transformation. It is well known that the forward kinematics of parallel robots may have multiple solutions and in general the convergence of numerical methods is unknown.
Andreas Pott, Valentin Schmidt
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Wrench-based analysis of cable-driven robots
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004This paper introduces the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables. This set is used as a framework for understanding and computing wrench-feasibility of a pose of the robot, allowing wrench-feasibility to be tested in the task space.
Paul Bosscher, Imme Ebert-Uphoff
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A cable driven parallel robot for coconut farm
2017 International Conference on Advances in Computing, Communications and Informatics (ICACCI), 2017This paper presents a cable driven parallel robot for automating the process of coconut dehusking in large and medium sized farms. The robot assists the mechanized dehusking process by performing the activity of fetching coconuts from a heap and autonomously loading them into a dehusking machine's hopper.
Thejas Narayanan +3 more
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A stability measure for underconstrained cable-driven robots
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004This paper introduces a slope-based measure of the stability of a pose of an underconstrained cable robot. In order to define this measure, the set of twists that the end-effector can instantaneously undergo is found. The measure is then derived using an energy-based approach to generalize the definition of slope for mixed-dimensional twists.
Paul Bosscher, Imme Ebert-Uphoff
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Energy efficiency of cable-driven parallel robots
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016Cable-driven parallel robots, hereinafter referred to as cable robots, use cables to manipulate a mobile platform with 6 DOF. Cable robots have a low moved mass, as the winches with the servo drives are fixed to the machine frame and light weight synthetic fiber cables can be used.
Werner Kraus +2 more
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