Results 41 to 50 of about 1,954 (184)
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 +5 more
wiley +1 more source
Applied Sciences, 2020 In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion
Yuanhui Wang, Haiyan Tong, Hongliang Ren
doaj +1 more source
A simple design rule for 1st order form-closure of underactuated hands [PDF]
Mechanical Sciences, 2011 The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space.
S. Krut, V. Bégoc
doaj +1 more source
Adaptive control of underactuated planar pronking
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2022 Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, the design of stabilizing controllers becomes more challenging due to inaccurate modeling.
Güner Dilsad Er, Mustafa Mert Ankarali
openaire +2 more sources
Nonlocomotory Robotic Strategies for Dynamic Rotation Control in Terrestrial Robots: A Review
Advanced Robotics Research, EarlyView.Terrestrial robots increasingly require rapid body rotation to maintain stability and agility in complex environments. This review shows nonlocomotory rotational control strategies that operate without ground contact, including reaction wheels, tails, bars, limbs, and thrusters.
Y. Liang +14 more
wiley +1 more source
Quasi-static modelling of compliant mechanisms: application to a 2-DOF underactuated finger [PDF]
Mechanical Sciences, 2011 In this paper, the kinematostatic and the quasi-static models of parallel mechanisms are applied to underactuated mechanisms. Both models are extended to the cases for which the actuated joints are not kinematically independent, and for which the ...
C. Quennouelle, C. Gosselin
doaj +1 more source
Echinoderm‐Inspired Autonomy for Soft‐Legged Robots
Advanced Robotics Research, EarlyView.Inspired by echinoderms, a modular soft robot achieves autonomous phototaxis without a central controller or explicit communication. Each limb independently adapts its actuation timing through local sensing and short‐term memory. Coordination emerges purely from physical interactions, demonstrating resilience to changes in morphology, environment, and ...
Harmannus A. H. Schomaker +2 more
wiley +1 more source
MathematicsThis paper is devoted to the consensus control of a networked system constituted by multiple underactuated marine surface vessels (MSVs) with input saturation.
Qian Gao, Jian Li
doaj +1 more source
Advanced Robotics Research, EarlyView.An enhanced universal gripper combining rigid mechanics with self‐adaptable fingers is presented for industrial automation. The novel six‐bar linkage with integrated compliant pad eliminates mechanical interference while enabling passive shape adaptation.
Muhammad Usman Khalid +7 more
wiley +1 more source
Towards Advanced Intelligent and Perceptive Soft Grippers
Advanced Intelligent Systems, EarlyView.Implementing soft yet strong and intelligent soft grippers request innovative and creative solutions in designing soft bodies and seamlessly integrating actuated systems with hierarchical sensing. This review systematically analyses soft grippers with a deep understanding of core components, from fundamental design principles to actuation and sensing ...
Haneul Kim +4 more
wiley +1 more source