Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for com...
This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with du...
This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and a...
This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force o...
Replicating animal movements with robots provides powerful research tools because key parameters can be manipulated at will. Facing the lack of standard methods and the high complexity of biological systems, an incremental bioinspired approach is req...
In this paper, a compliant control scheme based on the optimization of the contact force of the robot leg is proposed to improve the stability of the whole moving process of the robot. Firstly, according to the motion state of the robot, the change o...
In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accur...
Adhesion state is a key factor affecting the motion stability of a wall-climbing robot. According to different adhesion states, there is no universal method for compliant detachment. We propose an online impedance strategy for controlling peeling ang...
This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singular...
For biped robots, the ability to maintain balance under external forces is an essential requirement. Inspired by human beings’ behaviors to resist external forces, a compliant-resistant balance-control method is proposed to keep the biped robot...
Inspired by the adaptive flexible motion coordination of biological systems, this study presents a bioinspired control strategy that enables robotic manipulators to achieve precise and compliant motion–force coordination for embodied intelligen...
Advancements in smart manufacturing have embraced the adoption of soft robots for improved productivity, flexibility, and automation as well as safety in smart factories. Hence, soft robotics is seeing a significant surge in popularity by garnering c...
Since robotic arms operating close to people are becoming increasingly common, there is a need to better understand how they can be made safe when unintended contact occurs, while still providing the required performance. Several actuators and method...
Robot manipulation in a physically constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force imposed by the environment. Recently, reinforcement learning (RL) has...
Bio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-...
In this paper, we present a direct drive brush-shaped tool developed for the use of robotic vine suckering. Direct drive design philosophy allows for precise and high bandwidth control of the torque exerted by the brush. Besides limiting the torque e...
Compliance in robotic systems has been exploited to allow rigid mechanisms to come into contact with complex and possibly fragile objects. By incorporating compliance and instrumentation into a single device nearby objects can be detected before dire...
Soft robots with compliant bodies offer safe human–robot interaction as well as adaptability to unstructured dynamic environments. However, the nonlinear dynamics of a soft robot with infinite motion freedom pose various challenges to operation...
In this study, a novel compliant ankle structure with three passive degrees of freedom for quadruped robots is presented. First, this paper introduced the bionic principle and structural implementation method of the passively compliant ankle, with a...
Soft robots, especially soft robotic hands, possess prominent potential for applications in close proximity and direct contact interaction with humans due to their softness and compliant nature. The safety perception of users during interactions with...
Exoskeletons are being explored for assisting motion therapy for neurological impairment-related rehabilitation. Soft robotic exoskeletons are gaining more attention for upper-extremity applications due to their simplistic actuation mechanisms and co...
When addressing the technical challenges of achieving precise force tracking during the local polishing process of polishing robots, controlling the contact state between the robot and the workpiece surface is essential. To this end, a contact motion...
Mobile millimeter and centimeter scale robots often use smart composite manufacturing (SCM) for the construction of body components and mechanisms. The fabrication of SCM mechanisms requires laser machining and laminating flexible, adhesive, and stru...
Quadruped robots, with their biomimetic structure, are capable of stable locomotion in complex terrains and are vital in rescue, exploration, and military applications. However, developing multi-modal robots that feature simple motion control while a...
This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-DOF) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso...
Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robo...
Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion...
This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of t...
Without mechanical compliance robots rely on controlled environments and precision equipment to avoid clashes and large contact forces when interacting with an external workpiece, e.g., a peg-in-hole (PiH) task. In such cases, passive compliance devi...
Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate mo...
This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alter...
Conventional ankle rehabilitation exercises can be monotonous and repetitive. The use of robots and games can complement the existing practices, provide an engaging environment for the patient and alleviate the physiotherapist’s workload. This paper...
Traditional renal puncture surgery requires manual operation, which has a poor puncture effect, low surgical success rate, and high incidence of postoperative complications. Robot-assisted puncture surgery can effectively improve the accuracy of punc...
Although existing motion transfer methods for bionic robot arms are based on kinematic equivalence or simplified dynamic models, they frequently fail to tackle dynamic compliance and real-time adaptability in complex human-like motions. To address th...
As gestures play an important role in human communication, there have been a number of service robots equipped with a pair of human-like arms for gesture-based human–robot interactions. However, the arms of most human companion robots are limit...
Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL)....
Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparen...
Conventional pneumatic grippers are widely used in industrial pick and place robot processes for rigid objects. They are simple, robust and fast, but their design, motion and features are limited, and they do not fulfil the final purpose. Food produc...
In recent years, dielectric elastomer actuators (DEAs) have been widely used in soft robots and artificial bio-medical applications. Most DEAs are composed of a thin dielectric elastomer layer sandwiched between two compliant electrodes. DEAs vary in...
Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aided portable...
The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exosk...
The agile and power-efficient locomotion of a water strider has inspired many water-walking devices. These bioinspired water strider robots generally adopt a DC motor to create a sculling trajectory of the driving leg. These robots are, thus, inevita...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
Recent advances in bioinspired robotics highlight the growing demand for dexterous, adaptive control strategies that allow robots to interact naturally, safely, and efficiently with dynamic, contact-rich environments. Yet, achieving robust adaptabili...
This paper explores a concept for dynamic amplification of piezoelectric actuator motion using repeated impacts between the active transducer and a compliant amplification mechanism. The design shows good performance in amplifying vibration of a lead...
Robotic legs, such as for lower-limb exoskeletons and prostheses, have bimodal operation: (1) within a task, like for walking (high speed and low force for the swing phase and low speed and higher force when the leg bears the weight of the system); (...
To conduct a comfortable lift for the care-receiver, it takes a lot of time and operations to design the motion trajectory for each care-receiver before transfer tasks. To solve this problem, this paper proposed a method to design a lift trajectory f...
Generating robot behaviors in dynamic real-world situations generally requires the programming of multiple, often redundant degrees of freedom to meet multiple goals governing the desired motions. In this work, we propose a constraint-based controlle...
Ducted fan flying robots with robotic arms can perform physical interaction tasks in complex environments such as indoors. However, the coupling effects between the aerial platform, the robotic arm, and physical environment pose significant challenge...
Inspired by the efficient locomotion of insects in nature, researchers have been developing a diverse range of soft robots with simulated locomotion. These robots can perform various tasks, such as carrying medicines and collecting information, accor...
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