Results 41 to 50 of about 3,002 (288)

A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

Applied Sciences, 2021
This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with n identical universal joints (UJs).
Ya’nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei, Shichun Di   +4 more
doaj   +1 more source

A Fibonacci control system with application to hyper-redundant manipulators [PDF]

Mathematics of Control, Signals, and Systems, 2016
We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability ...
LAI, ANNA CHIARA, LORETI, Paola, VELLUCCI, PIERLUIGI   +2 more
openaire   +5 more sources

Neural network based kinematic control of the hyper-redundant snake-like manipulator

, 2007
In a sinusoid like curve configuration, the snake-like manipulator (also called snake arm) has a wide range of potential applications for its redundancy to overcome conventional industrial robot's limitation when carrying out a complex task.
Liu JG(刘金国), Ma SG(马书根), Yuechao Wang, Li, Bin, Wang YC(王越超), Li B(李斌), Wang, Yuechao, Liu, Jinguo, Jinguo Liu, Ma, Shugen, Shugen Ma, Bin Li   +11 more
core   +1 more source

Manipulation of a Pneumatic Hyper-Redundant Actuator

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, 2011
Pneumatically controlled and actuated planar snake-like device has been developed. Each joint is controlled by hardware-implemented algorithm inspired by snake's lateral undulatory locomotion. Therefore the device progresses forward whenever the lateral movement is constrained, such as a winding groove by which the tip element is guided.
DATE, Hisashi, TAKITA, Yoshihiro
openaire   +2 more sources

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Machines, 2023
Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery.
Kapil Sawant, Antonios E. Gkikakis, Leonardo S. Mattos   +2 more
doaj   +1 more source

Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics

Machines, 2022
Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered.
Longfei Jia, Zhiyuan Yu, Haiping Zhou, Zhe Pan, Yangsheng Ou, Yaxing Guo, Yuping Huang   +6 more
doaj   +1 more source

Functional Blood‐Brain Barrier Crossing by Biomimetic M13 Phage Vectors for Targeted Neuronal Delivery

Advanced Healthcare Materials, EarlyView.
This study investigates the M13 bacteriophage as a biomimetic nanovector capable of crossing in vitro models of the blood–brain barrier. By exploiting peculiar transcellular pathways, M13 avoids lysosomal degradation and preserves its structural integrity and functionality.
Silvia Vercellino, Lucia Pappagallo, Francesca De Chirico, Luca Boselli, Hazem Ahmed, Luca Spagnoletti, Giovanni Pittaluga, Paolo Emidio Costantini, Matteo Calvaresi, Pier Paolo Pompa, Alberto Danielli, Fabio Benfenati, Valentina Castagnola   +12 more
wiley   +1 more source

Task-Based Motion Planning Using Optimal Redundancy for a Minimally Actuated Robotic Arm

Applied Sciences, 2022
In planning robotic manipulations, heuristic searches are commonly considered impractical due to the high dimensionality of the problem caused by redundancy in the kinematic chain.
Yanai Gal, David Zarrouk
doaj   +1 more source

Epidermal Patch Technologies for Integrated Healthcare and Infection Management

Advanced Healthcare Materials, EarlyView.
Epidermal patches have evolved from simple wound coverings into multifunctional, skin‐conformable platforms integrating drug delivery, biosensing, and therapeutic functionalities. This review highlights their material innovations, fabrication strategies, and intelligent designs, including hydrogels, microneedles, and flexible electronics, while ...
Yuqi Wang, Atakan Tevlek, Pawel L. Urban, Boaz Mizrahi, Onome Ejeromedoghene, Roshan Deen, Yuanjing Lin, Jagan Mohan Dodda   +7 more
wiley   +1 more source

A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Advanced Robotics Research, EarlyView.
This review provides an introspective of sensors and controllers in soft robotics. Initially describing the current sensing methods, then moving on to the control methods utilized, and finally ending with challenges and future directions in soft robotics focusing on the material innovations, sensor fusion, and embedded intelligence for sensors and ...
Ean Lovett, Maxwell Hammond, Niloufar Seyfi, Amirreza Fahim Golestaneh, Venanzio Cichella, Caterina Lamuta   +5 more
wiley   +1 more source