4 accepted papers
This paper presents a soft Cable-Driven Parallel Robot for gastrointestinal surgery. The robot consists of an inflatable scaffold and a hydraulic variable stiffness end-effector and features six degrees of freedom. Experiments involving passage through a colon model, knot tying, and retraction have
Benefiting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable flexibility even within confined spaces. However, its motion planning and control pose significant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controlla…
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of loop detection and correction. Based on the 6-DO
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant man…