Results 41 to 50 of about 1,094 (182)

Minimum-Energy Trajectory Planning for an Underactuated Serial Planar Manipulator

Robotics
Underactuated robotic systems are appealing for industrial use due to their reduced actuator number, which lowers energy consumption and system complexity. Underactuated systems are, however, often affected by residual vibrations.
Domenico Dona’, Jason Bettega, Iacopo Tamellin, Paolo Boscariol, Roberto Caracciolo   +4 more
doaj   +1 more source

Control of Flexible Robot by Harmonic Functions

Applied Sciences, 2022
This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into
Zdeněk Neusser, Martin Nečas, Michael Valášek   +2 more
doaj   +1 more source

From Rigid to Soft Robotic Approaches for Neuroendoscopy

Advanced Robotics Research, EarlyView.
Robotic assistance has had minimal impact on deep intraventricular surgeries, where small‐scale, precision, and reduced invasiveness can contribute to improved patient outcomes. Emerging technologies in rigid, soft, and hybrid robotics are reviewed to identify the most promising mechanisms for deep brain navigation in addition to an attempt to identify
Kieran Gilday, Irena Zubak, Andreas Raabe, Josie Hughes   +3 more
wiley   +1 more source

Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems

IEEE Access, 2021
This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller,
Fazal Ur Rehman, Nadir Mehmood, Sami Ud Din, Muhammad Rafiq Mufti, Humaira Afzal   +4 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

Mathematical problems in the control of underactuated systems

, 2001
In this paper we will discuss problems and techniques related to underactuated systems. We give a mathematical formulation of several problems arising from applications, review some standard and new techniques, and pose some interesting and challenging open questions.
Auckly, David, Kapitanski, Lev
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, J. An, X. Zheng, D. Wang, S. Wang, X. Wang, P. Zhu, J. Pei, S. Li, J. Paripurana, Y. Han, Z. Tang, X. Gan, Q. He, X. Ma   +14 more
wiley   +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, Jelle de Vries, Johannes T. B. overvelde   +2 more
wiley   +1 more source

Path-Parameterised RRTs for Underactuated Systems

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic feasibility along a path.
Damian Abood, Ian R. Manchester
openaire   +2 more sources

Minimum-time trajectory tracking of an underactuated system [PDF]

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000
Minimum-time trajectory tracking of an underactuated mechanical system called the Acrobot is presented. The success of the controller is demonstrated by the fact that the tracking error is reduced by more than an order of magnitude when compared to the open-loop system response.
Driessen, Brian, Sadegh, Nader
openaire   +1 more source