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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4,   Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract: analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) bipedA prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM

Keywords： biped robots     leg mechanisms     simulation    

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4,   Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficultyA five-link biped with underactuated point foot is considered in simulations.

Keywords： Underactuated running biped     Dynamic balance     Varied and unknown terrain    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract:

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor isThe biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelPlanning of the biped walking gait is performed by coordinating the motions of the two leg mechanismsSimulation results show that the proposed biped locomotor with proper input motions of linear actuatorsof the biped walking gait of the proposed locomotor.

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complextests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1,   Pages 95-103 doi: 10.1007/s11465-013-0357-4

Abstract:

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords： human locomotion     walking gait     characterization     humanoid robot     biped robot    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robotsExisting inspection robots are usually involved in issues: Robots with manipulators need complicatedinstallation due to their fixed base; tube mobile robots suffer from low running efficiency because ofMost in-service robots check the task tubes using row-by-row and column-by-column planning.

Keywords： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 1-11 doi: 10.1007/s11465-019-0563-9

Abstract: Given the multiple varieties and small batches, the production of industrial robots faces the ongoingToward the next generation production system for industrial robots, this study proposed a hybrid architecture

Keywords： cyber physical system     robot assembly     multiagent system     architecture    

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by

Keywords： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Strategic Study of CAE 2013, Volume 15, Issue 1,   Pages 73-78

Abstract:

To solve the path planning problem of mobile robots in complicated environments, combining the

Keywords： immune network     artificial potential field     mobile robots     path planning    

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Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 100-108 doi: 10.1007/s11465-012-0318-3

Abstract:

This paper introduces a method to generate the planar jumping motion for biped robot.

Keywords： biped jumping     stable landing control     jumping motion generation    

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Expanding Fleet of Autonomous Floating Robots Targets Deeper Understanding of Global Ocean Dynamics

Chris Palmer

Engineering 2023, Volume 22, Issue 3,   Pages 10-13 doi: 10.1016/j.eng.2023.01.001

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Title Author Date Type Operation

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Journal Article

Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

Journal Article

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Journal Article

Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

Journal Article

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Journal Article

Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN

Journal Article

Expanding Fleet of Autonomous Floating Robots Targets Deeper Understanding of Global Ocean Dynamics

Chris Palmer

Journal Article