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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0722-2

Abstract: This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMsAfter that, both the forward and inverse kinematics of the entire arm are analyzed.Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, jointstiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify thearm performance.

Keywords： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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LARM PKM solutions for torso design in humanoid robots

Marco CECCARELLI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4, Pages 308-316 doi: 10.1007/s11465-014-0318-6

Abstract:

Human-like torso features are essential in humanoid robots.conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm

Keywords： humanoid robots torso design parallel manipulators (PKM) conceptual design

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficultsolution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on armthe stride and termination condition, the precise inverse solution is computed for the EMM based on armLastly, case solutions confirm that this method has high precision, and the arm angle parameterization

Keywords： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions.a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid

Keywords： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend.However, making the dual-arm robots more intelligent in such applications is still an open, challengingfacilitate robot deployment from perception to execution and finish assembly problems by using dual-armExperiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the

Keywords： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception

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The Design of a Valve Positioner System Based on ARM Microcontroller

Wu Aiguo,Wang Lishi

Strategic Study of CAE 2005, Volume 7, Issue 4, Pages 69-73

Abstract: paper introduces the hardware design and the position control method of a valve positioner based on ARMOn the one hand, the selection of ARM with CAN interface of Philips as the core controller can not only

Keywords： ARM controller CANbus intelligent integral self-learning fuzzy controller

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, Pages 8-8 doi: 10.1007/s11465-021-0664-0

Abstract: Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterousmanipulation functions besides locomotion ability without adding an extra arm.Then, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as

Keywords： leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbagsThe joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbagsThe motion and load performance of the soft arm of the eight-joint module was tested.The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motionsIn addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were

Keywords： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading

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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

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 7, Pages 607-616 doi: 10.1631/FITEE.14a0335

Abstract: The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex jointThe inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimizationinspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoidBased on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an exampleThe end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid

Keywords： Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential

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Superunderactuated Multifingered Hand for Humanoid Robot

ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1, Pages 33-39 doi: 10.1007/s11465-005-0015-6

Abstract: Finger mechanism was incorporated into a humanoid robot hand to obtain more degrees of freedom with lessA novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based onThe TH-2 Hand was attached to a humanoid robot because of its high personification, superunderactuation

Keywords： control real-time control superunderactuation TH-2 personification

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, doi: 10.1007/s11465-021-0658-y

Abstract: In the method, the state equation is first proposed for dual-arm robots with and without end constraints

Keywords： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional

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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1, Pages 23-32 doi: 10.1007/s11465-011-0202-6

Abstract: The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composedThe experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately

Keywords： motion tracking rehabilitation optical linear encoder (OLE) virtual reality

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Continuous path control of robot arm in network-based remote control

Zheng Hua, Cong Shuang

Strategic Study of CAE 2008, Volume 10, Issue 10, Pages 91-95

Abstract:

By discussing the drawbacks of a 2-dof robot arm remote control based

Keywords： remote control continuous path control robot arm system

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Nagle algorithm and its application research in embedded Internet

Wang Baobao,Yu Shiming and Wang Zhenyu

Strategic Study of CAE 2014, Volume 16, Issue 2, Pages 101-105

Abstract: The paper builds embedded Internet network based on ARM7 32 bits micro control unit（MCU）and personal

Keywords： Nagle algorithm deadlock delayed ACK policy ARM7 embedded Internet

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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