Results 1 to 10 of about 849 (182)
Underactuated robotics: A review [PDF]
International Journal of Advanced Robotic Systems, 2019 Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system.
Bin He, Shuai Wang, Yongjia Liu
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Applied Sciences (Switzerland), 2023 In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator.
Zixin Huang, Lejun Wang, Huang Zixin
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Task-Based Configuration Synthesis of an Underactuated Resilient Robot
Robotics, 2023 A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method
Wenjun Zhang, Tan Zhang, Dan Zhang
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ActuatorsIntelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, the actuated robot degenerates to an underactuated robot, and the traditional control method is not suitable for the underactuated ...
Zixin Huang, Ziang Wei, Huang Zixin
exaly +3 more sources
Applied Sciences (Switzerland)Autonomous underwater vehicles (AUVs) commonly use screw propellers to move in a water environment. However, compared to the propeller-driven AUV, bio-inspired AUVs feature a higher energy efficiency, longer lifespan (due to a lack of cavitation), and ...
Tatsuaki Kimura
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Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm [PDF]
Applied Bionics and BiomechanicsFlexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and ...
Ning Cao +5 more
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Axioms, 2021 The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones.
Mingcong Deng, Shotaro Kubota
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Iterative Contraction Stability Control Strategy for Planar Prismatic-Rotational Underactuated Robot
IEEE Access, 2023 An iterative contraction stability control strategy is proposed to solve the end point position control problem of the planar prismatic-rotational (PR) underactuated robot.
Zixin Huang +3 more
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Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots
Applied Sciences, 2023 Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that makes ...
Michele Tonan +3 more
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Measurement + Control, 2023 The swarm planar underactuated robots have the ability to organize each robot to complete task in a finite time and the characteristics of ignoring gravity, energy saving, light weight, and so on. In this paper, we propose control strategy for such robot
Zixin Huang +3 more
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