10 accepted papers
Space robotic arms are designed to operate in microgravity environments, so their own weight makes them difficult to move on Earth's 1g surface. A cable-driven parallel robot (CDPR) can handle partially the arm's self-weight, enabling operation on the ground. The CDPR connects to a specific point on
Impedance control is a widely adopted approach that ensures the compliant behavior of robot manipulators as they interact with their environment according to specifically designed dynamics. For tasks involving six degrees of freedom (DoF), it is crucial to appropriately manage the position and orien…
In this paper, two technologies are proposed to deal with the problem of flight safty of multiple unmanned aerial vehicles (UAVs) in unknown environments. One technology is to optimize the front-end path generated by traditional path planning methods in order to better match the dynamics of UAVs to
In unilateral teleoperation systems, robots often face challenges when performing tasks with specific geometric constraints. These constraints restrict the robot's movements to certain directions, requiring accurate control of its position and orientation. If the operator's commands do not consider
Soft pneumatic robotic grippers can be used to conduct a wide range of tasks in extreme environments as they are generally free of conductive or magnetic components. But the sensorization of these grippers can potentially make them unsuitable for such environments and lower their performance through
One degree-of-freedom (DoF) virtual rolling-contact joint for the prosthetic wrist is proposed in this letter. For prosthetic wrists, the wrist mechanism should basically be lightweight and have a wide range of motion (RoM). In addition, it is desirable to have compliant characteristics to protect a
The paper presents a passivity-based control law for an antagonistic tendon-driven mechanism. It is proven, by using the passivity theorem, that the proposed control law is able to achieve two properties such as the passivity of interconnected subsystems when the external torque is applied and the g…
The paper presents design, fabrication and characteristics of two kinds of conductive Knit-covered Pneumatic Artificial Muscle (it is called as k-PAM in the paper) actuators, in which two different knits are made by braiding silver-coated (conductive) yarn and spandex (non-conductive) yarn with diff…
All the people have their own individual force ranges to feel the sense of touch and its minimum value is called light touch threshold (in short LTT). For instance, if a touching force is very weak, people do not know whether the object is contacted to their skin, even though it is pushing the skin…
This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and en