Results 31 to 40 of about 24,745 (249)
Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation [PDF]
FME Transactions, 2017 This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed
Petrović Petar B., Danilov Ivan R.
doaj
PLoS ONE, 2019 The robustness of motor outputs to muscle dysfunction has been investigated using musculoskeletal modeling, but with conflicting results owing to differences in model complexity and motor tasks. Our objective was to systematically study how the number of
M Hongchul Sohn +2 more
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Compliant behaviour of redundant robot arm - experiments with null-space [PDF]
Serbian Journal of Electrical Engineering, 2015 This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior.
Petrović Petar B. +2 more
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Redundancy Resolution Schemes for Kinematically Redundant Parallel Manipulators
, 2019 Kinematic redundancy may be an alternative for enlarging the workspace and for improving the dynamic performance of parallel manipulators. It can be implemented by the introduction of an extra active joint in an active kinematic chain. Kinematically redundant parallel manipulators require redundancy resolution schemes since their inverse kinematic ...
Martins da Silva, Maíra +1 more
openaire +2 more sources
Advanced Materials Technologies, EarlyView.This review presents recent progress in vision‐augmented wearable interfaces that combine artificial vision, soft wearable sensors, and exoskeletal robots. Inspired by biological visual systems, these technologies enable multimodal perception and intelligent human–machine interaction.
Jihun Lee +4 more
wiley +1 more source
6-REXOS: Upper Limb Exoskeleton Robot with Improved pHRI
International Journal of Advanced Robotic Systems, 2015 Close interaction can be observed between an exoskeleton robot and its wearer. Therefore, appropriate physical human-robot interaction (pHRI) should be considered when designing an exoskeleton robot to provide safe and comfortable motion assistance ...
Malin Gunasekara +2 more
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The kinematics of hyper-redundant robot locomotion [PDF]
, 1995 This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”.
Burdick, Joel W., Chirikjian, Gregory S.
core +1 more source
Advanced Robotics Research, EarlyView.A codesign multiobjective optimization framework was developed to enhance the morphology and controller of a snake‐like robot driven by artificial muscles. It improved planar locomotion, agility, and power efficiency. The approach optimized link geometry and controller gains, revealing that shorter muscles near joints and longer linkages maximize ...
Ayla Valles, Mahdi Haghshenas‐Jaryani
wiley +1 more source
Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework [PDF]
FME Transactions, 2017 When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation.
Petrović Petar B., Lukić Nikola A.
doaj
Frontiers in Neurorobotics, 2017 A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse ...
Paolo Tommasino, Domenico Campolo
doaj +1 more source