Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are significantly more ...

In this paper, we focus on the validity of using a Variable Structured Elastic Actuator (VSEA) for a hopping robot. A VSEA is proposed by Miura and Katsura. The VSEA is composed of an electromagnetic clutch, springs, a geared motor, and a load. The clutch ...

This paper presents calibration methods for high precision robot assisted industrial automation process. The methods considers two calibration procedures namely the calibration using an object and the planar constraints. The proposed estimated procedures ...

Industrial robots have been applied in labor-intensive and high-risk jobs such as grinding, polishing, deburring, etc. However, traditional robotic manufacturing systems require skillful experts to advise the robot programming for controlling ...

Mobile robots are becoming popular for transportation of packages but are prone to rollover in off-road terrain. The location of the center of gravity is required for the rollover detection of mobile robots. However, the location of the center of gravity ...

Coverage path planning (CPP) is essential for applications such as robotic floor cleaning and high-pressure cleaning of surfaces. Smooth CPP algorithms have several benefits including smoother motion of the robot and the reduction of aggressive ...

In this paper, we study a visual sensing scheme for 6 degree-of-freedom (DOF) tool center point (TCP) pose estimation of large-scale, long-reach manipulators. A sensor system is proposed, designed especially for mining manipulators, comprising a stereo ...

Knee joint actuation plays a critical role to keep human walking locomotion and balance under abnormal conditions, such as foot slip or work-related musculoskeletal disorders etc. Wearable assistive robotic knee devices provide additional support and ...

A new control method for stability, synchronization and transparency of bilateral teleoperation systems is investigated in this paper. For the environmental force identification, the weighted least square method (WLS) is used on slave side and then the ...

The flexibility of robot response within unknown remote environments, such as disaster sites, is contingent on situational needs. A single robot generally cannot perform multiple tasks adequately and thus requires integrated systems. Accordingly, accurate ...

The recent development in robotic lower-limb prostheses have helped amputees restore their joint functions and enabled them to perform diverse and energetically challenging daily locomotive activities, which are usually beyond the functionality of the ...

We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning. The DeepClaw benchmark aims at a mechatronics perspective of the robot learning problem, which features a minimum design of robot cell that can be ...

There are many tasks that require keeping a constant distance apart from the object, such as scanning with a hand-held metal detector or spray painting. In order for robots to perform such works properly, it is indispensable to observe and control the ...

Amphibious robots are being deployed in field environments where they are required to handle environmental disturbances and systemic uncertainties. Efficient and accurate control strategies can guarantee high performance of the robot’s trajectory ...

Recently, the demand for collaborative robot is increasing. Most of them are smaller to conventional industrial robots. In order to support humans in various field, it is required that they acquire flexible and dexterous motions. The soft motion based on ...

Wire-driven continuum manipulators have excellent dexterity and higher payload capacity features in comparison with other types of manipulators taking flexible backbone structures. However, wire-driven continuum manipulators have an intrinsic issue in ...

In this study, the inner position loop addition for plastic deformation control of the error robustness of the model and actual parameters is proposed. The inner position loop is a type of position feedback control based on the estimation of model ...

This paper presents an approach to realize tool path-following control of double Ackermann steered wheeled mobile manipulators. Path-following is achieved by time scaling of motion trajectories when the vehicle-manipulator becomes subject to actuator flow ...

In soft robotics, developing an effective way of robot-environment interaction is a challenging task due to the soft nature of the material that makes the manipulator. This paper demonstrates a vision-based approach to configure a two-segment soft ...

This paper investigates the problem of a multi-segmented and passively wheeled snake-like robot moving on varied sloped environments. The varied sloped environments indicate three-typical scenarios for the robot to move up, down and perpendicular to an ...