Suchergebnisse - Modeling Control and Learning for Soft Robots Flexible Robotics Kinematics

Kinematics Constraint Modeling for Flexible Robots based on Deep Learning 1 von Omisore, Olatunji Mumini, Wang, Lei

“… In this paper, a deep learning based kinematics model is proposed for motion control of flexible robots …”
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A snake-like articulated robot for flexible access minimally invasive surgery: modelling, optimisation and kinematic control von Vitiello, Valentina

“… The integration of robotic technologies in surgical instrumentation has contributed to the further development of Minimally Invasive Surgery (MIS …”
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Dynamic modeling and control of a multi-robot system during assembly of flexible payloads with kinematic uncertainty von Laliberte, Matthieu

“… The present thesis focuses on the assembly of flexible sheet metal parts by using robots when the parts are improperly grasped …”
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On Kinematic Modelling and Iterative Learning Control of Industrial Robots von Wallén, Johanna

“… This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied …”
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Modeling and reinforcement learning-based locomotion control for a humanoid robot with kinematic loop closures von Tang, Lingling, Liang, Dingkun, Gao, Guang, Wang, Xin, Xie, Anhuan

“… Humanoid robots are complex multibody systems, and modeling and locomotion control for them are challenging tasks …”
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Design of Contest for Educational Underwater Robot for STEM: Learning Applying Modeling Based on Control Engineering von Yamagata, Hirokazu, Morita, Toshio

“… ); this activity was targeted at a small group of learners. The authors employed underwater robots as the instructional material, and confirmed that positive learning effects can be produced …”
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Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots von Pierallini, Michele, Krishnan Muttathil Gopanunni, Ramesh, Angelini, Franco, Bicchi, Antonio, Garabini, Manolo

“… In this work, we address the problem of precise motion planning and control of flexible-link robots for throwing small objects …”
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Soft Robots Modeling: A Structured Overview von Armanini, Costanza, Boyer, Frederic, Mathew, Anup Teejo, Duriez, Christian, Renda, Federico

“… The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices …”
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Static Shape Control of Soft Continuum Robots Using Deep Visual Inverse Kinematic Models von Almanzor, Elijah, Ye, Fan, Shi, Jialei, Thuruthel, Thomas George, Wurdemann, Helge A., Iida, Fumiya

“… This study presents a novel image-based deep learning approach for closed-loop kinematic shape control of soft continuum robots …”
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Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots von Adagolodjo, Yinoussa, Renda, Federico, Duriez, Christian

“… ) to capture the mechanics and the actuation of soft robots. The FEM is used to simulate the non-linear behavior of the volume of the soft structure while the cable/rod used for the actuation is modeled using the DCM …”
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Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation von Wiese, Mats, Berthold, Rebecca, Wangenheim, Matthias, Raatz, Annika

“… Moving to the application of soft robots, incorporating validated contact models in modeling frameworks can be crucial for simulation tasks in, e.g …”
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An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle von Stella, Francesco, Obayashi, Nana, Santina, Cosimo Della, Hughes, Josie

“… The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures …”
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Modeling and Analysis of Tendon-Driven Continuum Robots for Rod-Based Locking von Rao, Priyanka, Pogue, Chloe, Peyron, Quentin, Diller, Eric, Burgner-Kahrs, Jessica

“… Various design modifications have been proposed for tendon-driven continuum robots to improve their stiffness and workspace …”
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Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines von Rao, Priyanka, Peyron, Quentin, Burgner-Kahrs, Jessica

“… Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature …”
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Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives von Tummers, Matthias, Lebastard, Vincent, Boyer, Frederic, Troccaz, Jocelyne, Rosa, Benoit, Chikhaoui, M. Taha

“… Cosserat rod theory proved efficient modeling performances in robotics, especially in the context of continuum robots, in the past decade …”
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Learning Deformable Linear Object Dynamics From a Single Trajectory von Mamedov, Shamil, Geist, A. Rene, Viljoen, Ruan, Trimpe, Sebastian, Swevers, Jan

“… The dynamic manipulation of deformable objects poses a significant challenge in robotics …”
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Continuum Robot Segments With High Output Stiffness via Diagonal Backbones von Eisenhauer, Ethan, Milam, Eli, Gaston, Joshua, Rucker, Caleb

“… In this letter, we propose a simple solution to dramatically improve these issues: a continuum robot segment design that utilizes a diagonal backbone and flexible push-pull actuation rods …”
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Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures von Wockenfus, Wilhelm R., Brandt, Viktor, Weisheit, Linda, Drossel, Welf-Guntram

“… Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe and thus allow safe Human-Robot Collaboration …”
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Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook von Kwok, Ka-Wai, Wurdemann, Helge, Arezzo, Alberto, Menciassi, Arianna, Althoefer, Kaspar

“… that which can be achieved with rigid component devices. The ability, inherent in soft robots, to compliantly adapt to the environment, has significantly sparked interest from the surgical robotics community …”
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Underactuated Soft Hip Exosuit Based on Adaptive Oscillators to Assist Human Locomotion von Tricomi, Enrica, Lotti, Nicola, Missiroli, Francesco, Zhang, Xiaohui, Xiloyannis, Michele, Muller, Thomas, Crea, Simona, Papp, Emese, Krzywinski, Jens, Vitiello, Nicola, Masia, Lorenzo

“… A control strategy based on Adaptive Oscillators and gait phase estimation is implemented to deliver flexible assistance and to adapt to changes in walking pattern …”
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