Results 31 to 40 of about 2,853 (274)

A fractional approach for the motion planning of redundant and hyper-redundant manipulators [PDF]

, 2009
The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional ...
Azevedo-Perdicoúlis, T.-P., Azevedo-Perdicoúlis, T. P., Marcos, Maria da Graça, Machado, J. A. Tenreiro, T.-P. Azevedo-Perdicoúlis, Maria da Graça Marcos, J.A. Tenreiro Machado   +6 more
core   +1 more source

An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

International Journal of Advanced Robotic Systems, 2018
In this article, we present an improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators. Specifically, we not only focused on the position for the manipulator end-effectors but also considered ...
Wenrui Wang, Mingchao Zhu, Xiaoming Wang, Shuai He, Junpei He, Zhenbang Xu   +5 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

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

An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

, 2022
This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed
Liu, Jinguo, Zhang, Xiaobo, Li, Yangmin
core   +3 more sources

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

Segmented Hybrid Impedance Control for Hyper-Redundant Space Manipulators

Applied Sciences
Hyper-redundant space manipulators (HRSMs), with their extensive degrees of freedom, offer a promising solution for complex space operations such as on-orbit assembly and manipulation of non-cooperative objects.
Mohamed Chihi, Chourouk Ben Hassine, Quan Hu   +2 more
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 Bidirectional Human-Machine Control Interface Based on Virtual Fixtures for Safe Teleoperation of Hyper-Redundant Robots

IEEE Access
In confined and hazardous environments where human access is severely limited, hyper-redundant manipulators play a crucial role in preserving operator safety and mitigating operational risks. Their numerous degrees of freedom and compact design make them
Ludovica Capodivento, Tommaso Borzone, Tiberio Grasso, Clemente Lauretti   +3 more
doaj   +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