530 research outputs found
A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints
Most traditional robotic mechanisms feature inelastic joints that are unable
to robustly handle large deformations and off-axis moments. As a result, the
applied loads are transferred rigidly throughout the entire structure. The
disadvantage of this approach is that the exerted leverage is magnified at each
subsequent joint possibly damaging the mechanism. In this paper, we present two
lightweight, elastic, bio-inspired tensegrity robotics arms which mitigate this
danger while improving their mechanism's functionality. Our solutions feature
modular tensegrity structures that function similarly to the human elbow and
the human shoulder when connected. Like their biological counterparts, the
proposed robotic joints are flexible and comply with unanticipated forces. Both
proposed structures have multiple passive degrees of freedom and four active
degrees of freedom (two from the shoulder and two from the elbow). The
structural advantages demonstrated by the joints in these manipulators
illustrate a solution to the fundamental issue of elegantly handling off-axis
compliance.Comment: IROS 201
Robolink: Modular Robot Arm
The goal of this project is to utilize the igus® Robolink arm five degree of freedom modular robot arm, to complete useful tasks for persons with no or limited mobility. These tasks include driving the joystick of a wheelchair, flipping a light switch, and turning the pages of a book. This is done through designing and building a modular interface for mounting the Robolink arm onto an existing wheelchair project and implementing a universal control interface in the software for future expansion of tasks and control methods
The Development of a Sensitive Manipulation Platform
This thesis presents an extension of sensitive manipulation which transforms tactile sensors away from end effectors and closer to whole body sensory feedback. Sensitive manipulation is a robotics concept which more closely replicates nature by employing tactile sensing to interact with the world. While traditional robotic arms are specifically designed to avoid contact, biological systems actually embrace and intentionally contact the environment. This arm is inspired by these biological systems and therefore has compliant joints and a tactile shell surrounding the two primary links of the arm. The manipulator has also been designed to be capable of both industrial and humanoid style manipulation. There are an untold number of applications for an arm with increased tactile feedback primarily in dynamic environments such as in industrial, humanoid, and prosthetic applications. The arm developed for this thesis is intended to be a desktop research platform, however, one of the most influential applications for increased tactile feedback is in prosthetics which are operate in ever changing and contact ridden environments while continuously interacting with humans. This thesis details the simulation, design, analysis, and evaluation of a the first four degrees of freedom of a robotic arm with particular attention given to the design of modular series elastic actuators in each joint as well as the incorporation of a shell of tactile sensors
Imitating human motion using humanoid upper body models
Includes abstract.Includes bibliographical references.This thesis investigates human motion imitation of five different humanoid upper bodies (comprised of the torso and upper limbs) using human dance motion as a case study. The humanoid models are based on five existing humanoids, namely, ARMAR, HRP-2, SURALP, WABIAN-2, and WE-4RII. These humanoids are chosen for their different structures and range of joint motion
A Modular Bio-inspired Robotic Hand with High Sensitivity
While parallel grippers and multi-fingered robotic hands are well developed
and commonly used in structured settings, it remains a challenge in robotics to
design a highly articulated robotic hand that can be comparable to human hands
to handle various daily manipulation and grasping tasks. Dexterity usually
requires more actuators but also leads to a more sophisticated mechanism design
and is more expensive to fabricate and maintain. Soft materials are able to
provide compliance and safety when interacting with the physical world but are
hard to model. This work presents a hybrid bio-inspired robotic hand that
combines soft matters and rigid elements. Sensing is integrated into the rigid
bodies resulting in a simple way for pose estimation with high sensitivity. The
proposed hand is in a modular structure allowing for rapid fabrication and
programming. The fabrication process is carefully designed so that a full hand
can be made with low-cost materials and assembled in an efficient manner. We
demonstrate the dexterity of the hand by successfully performing human grasp
types.Comment: 7 pages, 13 figures, IEEE RoboSoft 202
A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applications
A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.The research leading to these results has received funding from the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research), and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV; S2018/NMT-4331), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU
Design, modeling and implementation of a soft robotic neck for humanoid robots
Mención Internacional en el título de doctorSoft humanoid robotics is an emerging field that combines the flexibility and safety of soft
robotics with the form and functionality of humanoid robotics. This thesis explores the potential
for collaboration between these two fields with a focus on the development of soft joints for the
humanoid robot TEO. The aim is to improve the robot’s adaptability and movement, which are
essential for an efficient interaction with its environment.
The research described in this thesis involves the development of a simple and easily transportable
soft robotic neck for the robot, based on a 2 Degree of Freedom (DOF) Cable Driven
Parallel Mechanism (CDPM). For its final integration into TEO, the proposed design is later
refined, resulting in an efficiently scaled prototype able to face significant payloads.
The nonlinear behaviour of the joints, due mainly to the elastic nature of their soft links,
makes their modeling a challenging issue, which is addressed in this thesis from two perspectives:
first, the direct and inverse kinematic models of the soft joints are analytically studied,
based on CDPM mathematical models; second, a data-driven system identification is performed
based on machine learning techniques. Both approaches are deeply studied and compared, both
in simulation and experimentally.
In addition to the soft neck, this thesis also addresses the design and prototyping of a soft
arm capable of handling external loads. The proposed design is also tendon-driven and has a
morphology with two main bending configurations, which provides more versatility compared
to the soft neck.
In summary, this work contributes to the growing field of soft humanoid robotics through
the development of soft joints and their application to the humanoid robot TEO, showcasing the
potential of soft robotics to improve the adaptability, flexibility, and safety of humanoid robots.
The development of these soft joints is a significant achievement and the research presented in this thesis paves the way for further exploration and development in this field.La robótica humanoide blanda es un campo emergente que combina la flexibilidad y seguridad
de la robótica blanda con la forma y funcionalidad de la robótica humanoide. Esta
tesis explora el potencial de colaboración entre estos dos campos centrándose en el desarrollo
de una articulación blanda para el cuello del robot humanoide TEO. El objetivo es mejorar la
adaptabilidad y el movimiento del robot, esenciales para una interacción eficaz con su entorno.
La investigación descrita en esta tesis consiste en el desarrollo de un prototipo sencillo
y fácilmente transportable de cuello blando para el robot, basado en un mecanismo paralelo
actuado por cable de 2 grados de libertad. Para su integración final en TEO, el diseño propuesto
es posteriormente refinado, resultando en un prototipo eficientemente escalado capaz de manejar
cargas significativas.
El comportamiemto no lineal de estas articulaciones, debido fundamentalmente a la naturaleza
elástica de sus eslabones blandos, hacen de su modelado un gran reto, que en esta tesis
se aborda desde dos perspectivas diferentes: primero, los modelos cinemáticos directo e inverso
de las articulaciones blandas se estudian analíticamente, basándose en modelos matemáticos de
mecanismos paralelos actuados por cable; segundo, se aborda el problema de la identificación
del sistema mediante técnicas basadas en machine learning. Ambas propuestas se estudian y
comparan en profundidad, tanto en simulación como experimentalmente.
Además del cuello blando, esta tesis también aborda el diseño de un brazo robótico blando
capaz de manejar cargas externas. El diseño propuesto está igualmente basado en accionamiento
por tendones y tiene una morfología con dos configuraciones principales de flexión, lo que
proporciona una mayor versatilidad en comparación con el cuello robótico blando.
En resumen, este trabajo contribuye al creciente campo de la robótica humanoide blanda
mediante el desarrollo de articulaciones blandas y su aplicación al robot humanoide TEO, mostrando el potencial de la robótica blanda para mejorar la adaptabilidad, flexibilidad y seguridad
de los robots humanoides. El desarrollo de estas articulaciones es una contribución
significativa y la investigación presentada en esta tesis allana el camino hacia nuevos desarrollos
y retos en este campo.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidenta: Cecilia Elisabet García Cena.- Secretario: Dorin Sabin Copaci.- Vocal: Martin Fodstad Stole
Advances in Bio-Inspired Robots
This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced
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