Results 81 to 90 of about 310,721 (284)

Benchmarking Data‐Driven Control of Octopus‐Inspired Soft Arms in Underwater Environment

Advanced Intelligent Systems, EarlyView.
Underwater soft robots present safe, compliant interaction, yet reproducible control remains scarce. This work presents an open benchmark for octopus‐inspired arms: a smooth, velocity‐diverse data‐collection scheme produces a compact dataset to train a vanilla policy.
Muhammad Sunny Nazeer, Yasmin Tauqeer Ansari, Emanuele Solfiti, Baljinder Singh Bal, Matteo Lo Preti, Barbara Mazzolai, Cecilia Laschi   +6 more
wiley   +1 more source

Minimum-jerk trajectory planning in robotic manipulators with kinematic redundancy

Minimizing induced mechanical vibrations represents a challenging and critical issue in robotics, as they can degrade motion accuracy, reduce achievable performance, and accelerate mechanical wear.
Giuliano Fabris, Alessandro Gasparetto, Lorenzo Scalera, Paolo Boscariol   +3 more
core   +1 more source

A Cable‐Driven Parallel Wire Robot for Probe Positioning and Tissue Palpation on Curved Phantoms

Advanced Intelligent Systems, EarlyView.
A wearable cable‐driven parallel robot is introduced for autonomous ultrasound probe positioning and soft tissue palpation on curved surfaces. By combining visual feedback with tension‐optimized control, the system achieves millimeter‐scale positioning accuracy while enforcing safety force constraints.
Christina Patterson, Dinesh K. Patel, Carmel Majidi   +2 more
wiley   +1 more source

Posture Optimization of the TIAGo Highly-Redundant Robot for Grasping Operation

Robotics
This study explores the optimization of the TIAGo robot’s configuration for grasping operation, with a focus on the context of aging. In fact, featuring a mobile base and a robotic arm, the TIAGo robot can conveniently aid individuals with disabilities ...
Albin Bajrami, Matteo-Claudio Palpacelli, Luca Carbonari, Daniele Costa   +3 more
doaj   +1 more source

Redundant manipulators kinematics inversion

Scientific Research and Essays, 2011
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method
Yahya, S., Moghavvemi, M., Mohamed, H.A.F.   +2 more
openaire   +2 more sources

LLM‐Based Multimodal Robotic Endoscope Control Framework for Enhancing Human–Robot Interaction in Minimally Invasive Surgery

Advanced Intelligent Systems, EarlyView.
An large language model‐powered multimodal framework is developed for robotic endoscope control. It integrates speech recognition and real‐time instrument tracking, achieving 89.47% command accuracy with ~1s latency for natural human–robot interaction in minimally invasive surgery.
Yisen Huang, Wing Yin Ng, Qi Dou, Xixin Wu, Shannon Melissa Chan, Yunhui Liu, Philip Wai Yan Chiu, Zheng Li   +7 more
wiley   +1 more source

Accelerating Musculoskeletal Robotics Through Parametric Design and 3D‐Printed Flexible Structures

Advanced Intelligent Systems, EarlyView.
Parametric design and flexible 3D printing create muscle‐, tendon‐, ligament‐, and cushion‐like robotic elements from a single thermoplastic polyurethane material. Tuning lattice patterns adjusts regional mechanical properties and enables coordinated multijoint motions in a life‐sized musculoskeletal leg under external suspension, with partial body ...
Shunnosuke Yoshimura, Kento Kawaharazuka, Kei Okada   +2 more
wiley   +1 more source

The Impact of Kinematic Redundancy on the Energetic Performance of Robotic Manipulators

Robotics
Energy efficiency is a challenging research topic in robotics, since it can reduce operating costs and increase production sustainability. In this paper, we present a strategy for energy-efficient trajectory planning in redundant robotic systems.
Giuliano Fabris, Lorenzo Scalera, Alessandro Gasparetto   +2 more
doaj   +1 more source

Task-priority redundancy resolution on acceleration level for underwater vehicle-manipulator system

International Journal of Advanced Robotic Systems, 2017
A task-priority redundancy resolution with restoring moments optimized on acceleration level for the underwater vehicle-manipulator system is investigated in this article.
Qirong Tang, Le Liang, Jianhua Xie, Yinghao Li, Zhenqiang Deng   +4 more
doaj   +1 more source

Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint

, 2012
— According to the seven degrees of freedom (DOFs) hu-man arm model composed of the shoulder, elbow, and wrist joints, positioning of the wrist in space and orientating the palm is a task requiring only six DOFs.
Jacob Rosen, Dejan Milutinovic, Hyunchul Kim, Zhi Li, Dejan Milutinovic ́   +4 more
core   +1 more source