Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies...
Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that mak...
This paper addresses the fundamental challenge of achieving stable and efficient walking in a lightweight, underactuated humanoid robot that lacks an ankle roll degree of freedom. To tackle this relevant critical problem, we present a hierarchical op...
Autonomous underwater vehicles (AUVs) commonly use screw propellers to move in a water environment. However, compared to the propeller-driven AUV, bio-inspired AUVs feature a higher energy efficiency, longer lifespan (due to a lack of cavitation), an...
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intell...
The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully act...
Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative rehabilitation are bulky and prone to misalignments between robot and human joints. These drawbacks hamper LLRR application, leading to poor arthro-kinematic compatibi...
Intelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, the actuated robot degenerates to an underactuated robot, and the traditional control method is not suitable for the underactuat...
Planar underactuated robots are mainly applied in the microgravity field, such as deep sea and deep space. The system modeling and stability control of planar underactuated robots are prerequisites to ensure successful task completion. The planar pri...
A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel me...
This paper delves into the potential of an optimized differential system within an underactuated tendon-driven soft robotic gripper, a crucial component that enhances the grasping abilities by allowing fingers to secure objects adapting to different...
Teaching robotics requires interdisciplinary skills and a good creativity, providing instructions and hands-on experiences, exploiting different kinds of learning. Two kinds of learning methods are commonly used: the ‘visual learning’ and the ‘audito...
In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator. Meanwhile, the proposed method is al...
The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external distur...
In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior dis...
Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treat...
In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces betw...
This article presents an innovative approach to the design of a safe adaptive backstepping control system. Tailored specifically for underactuated marine robots, the system utilizes simple sensors for enhanced practicality and efficiency. Given their...
Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is ca...
Underactuated robotic grippers have the advantage of lower cost, simpler control, and higher safety over the fully actuated grippers. In this study, an underactuated robotic finger is presented. The design issues that should be considered for stable...
This paper proposes a neural network-based nonsingular terminal sliding mode controller with prescribed performances for the target tracking problem of underactuated underwater robots. Firstly, the mathematical formulation of the target tracking prob...
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few...
In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is...
The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integra...
To tackle the challenge of time-varying formation control for underactuated robots under model parameter uncertainties and environmental disturbances, this study proposes an affine formation control approach enhanced by an Extended State Observer. In...
In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantag...
In this paper, a neural-network-based control method to achieve trajectory tracking and balancing of a ball-balancing robot with uncertainty is presented. Because the ball-balancing robot is an underactuated system and has nonlinear couplings in the...
This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated...
Underactuated hands are useful tools for robotic in-hand manipulation tasks due to their capability to seamlessly adapt to unknown objects. To enable robots using such hands to achieve and maintain stable grasping conditions even under external distu...
In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated...
Bipedal robots have long been a focal point of robotics research with an unwavering emphasis on platform stability. Achieving stability necessitates meticulous design considerations at every stage, encompassing resilience against environmental distur...
To improve the adaptive clamping performance of traditional single-tendon-driven underactuated grippers for grasping multiple categories of objects, a novel dual-tendon-driven underactuated gripper is proposed in this paper. First, two independent te...
In underwater environments, ensuring people’s safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind o...
Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as a compensatory and rehabilitation tool for patients with upper limb impairments. Devices composed of two extra...
Physical human–robot interaction (pHRI) is an essential skill for robots expected to work with humans, such as assistive or rescue robots. However, due to hard safety and compliance constraints, pHRI is still underdeveloped in practice. Tactile...
In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation is performed to get press...
The article summarizes research on essential contributors to energy dissipation in an actuator for an exemplary planetary exploration hopping robot. It was demonstrated that contact dynamics could vary significantly depending on the surface type. As...
Underactuated, modular and compliant hands and grippers are interesting solutions in grasping and manipulation tasks due to their robustness, versatility, and adaptability to uncertainties. However, this type of robotic hand does not usually have eno...
Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize...
In this study, a general type-2 fractional order fuzzy PID (GT2FO-FPID) controller is proposed to fulfil the balance adjustment of the Power-line Inspection (PLI) robot system. It is a combination of Mamdani general type-2 fuzzy logic controller (GT2...
The control of tendon-driven robotic fingers presents significant challenges due to their inherent underactuation, coupled with complex non-linear dynamics arising from tendon elasticity, friction, and external disturbances. Therefore, achieving prec...
The current underactuated robot hands use a single actuator to drive multiple degrees of freedom, enabling them to perform grasping functions. This paper design a multi-mode compound grasping robot finger driven by linkage, called MCG hand. The MCG h...
For bipedal robots to walk over complex and constrained environments (e.g., narrow walkways, stepping stones), they have to meet precise control objectives of speed and foot placement at every single step. This control that achieves the objectives pr...
A proposed optimized model for the trajectory tracking control of a wheeled inverted pendulum robot (WIPR) system is presented in this study, which addresses the problem of poor trajectory tracking performance in the presence of unknown disturbances...
Flexible sensors have gained popularity in recent years. This study proposes a novel structure of a resistive four-channel tactile sensor capable of distinguishing the magnitude and direction of normal forces acting on its sensing surface. The sensor...
Parallel pinch is an important grasp method. The end phalanx of the traditional parallel pinch and self-adaptive gripper moves in an arc trajectory, which requires the auxiliary lifting motion of the industrial manipulator, which is inconvenient to u...
In response to the growing need for efficient, stable, and non-destructive gripping in apple harvesting robots, this study proposes a novel rigid–flexible coupled end-effector. The design integrates an underactuated mechanism with a real-time f...
In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise...
Recently, there has been widespread and vital adoption of flexible manipulators due to their increased prevalence. This is attributed to the growing demand for flexibility in various tasks like refueling operations, inspections, and maintenance activ...
Since climbing robots mainly rely on adhesion actuators to achieve adhesion, robust adhesion actuators have always been the challenge of climbing robot design. A novel under-actuated soft adhesion actuator (USAA) proposed in this paper for climbing r...
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