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LARM PKM solutions for torso design in humanoid robots
Marco CECCARELLI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 308-316 doi: 10.1007/s11465-014-0318-6
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
关键词: humanoid robots torso design parallel manipulators (PKM) conceptual design
A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables
《机械工程前沿(英文)》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0
关键词: function-oriented tendon driven prosthetic hand optimization humanoid underactuated
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
《信息与电子工程前沿(英文)》 2015年 第16卷 第7期 页码 607-616 doi: 10.1631/FITEE.14a0335
关键词: Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0
关键词: kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
《机械工程前沿(英文)》 2006年 第1卷 第1期 页码 33-39 doi: 10.1007/s11465-005-0015-6
A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
关键词: control real-time control superunderactuation TH-2 personification
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 204-212 doi: 10.1007/s11465-016-0380-3
In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.
关键词: industrial robot nonlinear control vibration damping model-free control motion control
Footholds optimization for legged robots walking on complex terrain
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0742-y
关键词: footholds optimization legged robot complex terrain adapting hexapod robot locomotion control
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词: soft robot soft pneumatic actuator kinematic model crawling robot modular design
Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI
《机械工程前沿(英文)》 2011年 第6卷 第1期 页码 61-70 doi: 10.1007/s11465-011-0206-2
The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.
关键词: assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z
关键词: steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection
An experimental analysis of human straight walking
Tao LI, Marco CECCARELLI
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 95-103 doi: 10.1007/s11465-013-0357-4
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.
关键词: human locomotion walking gait characterization humanoid robot biped robot
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 1-11 doi: 10.1007/s11465-019-0563-9
关键词: cyber physical system robot assembly multiagent system architecture
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 23-28 doi: 10.1007/s11465-012-0304-9
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
关键词: mobile robot trajectory planning nonlinear dynamic optimal control
王孙安,吴灿阳
《中国工程科学》 2013年 第15卷 第1期 页码 73-78
为了解决复杂环境中移动机器人的路径规划问题,结合人工势场法计算量小的特性和人工免疫网络的自适应调节能力,提出了一种改进的路径规划免疫算法。为了提高免疫网络的搜索能力以及免疫网络的收敛性,将人工势场法的规划结果作为先验知识构建了导向权,同时将抗体命令清晰度和抗体转移后的距离变化作为变量,构建了新的抗体转移概率算子。仿真结果表明,与其他算法相比,新算法在最优规划能力和网络收敛性能方面都有明显提高。
标题 作者 时间 类型 操作
Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand
期刊论文
Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid
Zi-wu REN,Zhen-hua WANG,Li-ning SUN
期刊论文
Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots
期刊论文
Superunderactuated Multifingered Hand for Humanoid Robot
ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei
期刊论文
Vibration suppression of speed-controlled robots with nonlinear control
Paolo BOSCARIOL,Alessandro GASPARETTO
期刊论文
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
期刊论文
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
期刊论文
High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in
期刊论文
Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
期刊论文
Trajectory planning of mobile robots using indirect solution of optimal control method in generalized
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
期刊论文