Searched for: subject%3A%22Flexible%255C+robots%22
(1 - 7 of 7)
document
Hompes, Jouke (author)
Flexible robotics offers promising solutions for navigating complex environments, and this study contributes to its advancement through innovative methodologies optimizing both flexible robotic arm kinematics and a novel flexible actuator. The first methodology focuses on optimizing kinematics using quadratic programming, enabling the...
master thesis 2024
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Pustina, P. (author), Della Santina, C. (author), De Luca, Alessandro (author)
The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing quasi-static assumptions. In this letter, we...
journal article 2022
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Stella, F. (author), Obayashi, Nana (author), Della Santina, C. (author), Hughes, Josie (author)
The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevertheless, the results produced with this class of models have been so far essentially...
journal article 2022
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Feliu-Talegon, Daniel (author), Feliu-Batlle, Vicente (author), Tejado, Inés (author), Vinagre, Blas M. (author), Hassan HosseinNia, S. (author)
The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate...
journal article 2019
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Fayazi, Ali (author), Pariz, Naser (author), Karimpour, Ali (author), Hassan HosseinNia, S. (author)
This paper presents a fractional-order sliding mode control scheme equipped with a disturbance observer for robust impedance control of a single-link flexible robot arm when it comes into contact with an unknown environment. In this research, the impedance control problem is studied for both unconstrained and constrained maneuvers. The...
journal article 2018
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Loomans, T. (author)
When a disaster strikes a human-engineered environment, it can be difficult and dangerous for rescue workers to search for survivors. Collapsed buildings, fire and other hazards can make specific areas too dangerous to send in a human or dog. In this case, urban search and rescue (USAR) robots can be useful. Various researches have been...
master thesis 2015
document
Gong, D. (author)
doctoral thesis 1995
Searched for: subject%3A%22Flexible%255C+robots%22
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