Searched for: subject%3A%22Underactuated%22
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Lemmens, Cas (author)
<br/>This thesis report presents research on small walking robots. The report begins with an introduction that explains the project’s origin, outlines the project’s goal, and provides an overview of the report’s contents. Following the introduction, a literature study is conducted to investigate the current state-of- the-art steering mechanisms...
master thesis 2023
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de Rooij, Rens (author)
This research presents a measurement method for a compliant gripper finger, whereby the location of the contact with an object and the exerted grasp force are measured indirectly, instead of directly on the contacting surface. For this purpose, the deformation is measured using strain gauges at two locations on the inside structure of the finger...
master thesis 2023
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Pustina, P. (author), Borja, Pablo (author), Della Santina, C. (author), De Luca, Alessandro (author)
Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and...
journal article 2023
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Pierallini, M. (author), Stella, F. (author), Angelini, Franco (author), Deutschmann, Bastian (author), Hughes, Josie (author), Bicchi, Antonio (author), Garabini, Manolo (author), Della Santina, C. (author)
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to...
journal article 2023
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Smit, Neil (author)
Fin Ray Effect (FRE) grippers have proven versatile and effective in pick &amp; place automation applications. However, spherical and lateral round objects are still a challenge for the state-of-the-art, as solutions are unstable when placing those objects off-centre from the longitudinal line. Resulting in large and heavy FRE gripper assemblies...
master thesis 2022
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Roy, S. (author), Baldi, S. (author), Ioannou, Petros A. (author)
The control of underactuated Euler–Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note...
journal article 2022
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Ye, J. (author), Reppa, V. (author), Negenborn, R.R. (author)
Offshore structures with large mass are installed and removed by heavy lift vessels. During offshore constructions, two safety-critical interconnected operations take place, the dynamic positioning of the vessel and the lifting of the heavy structure by an immovable boom crane on the vessel. Existing studies on offshore boom crane control...
journal article 2020
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Roy, S. (author), Baldi, S. (author)
Available control methods for underactuated Euler–Lagrange (EL) systems rely on structure-specific constraints that may be appropriate for some systems, but restrictive for others. A generalized (structure-independent) control framework is to a large extent missing, especially in the presence of uncertainty. This paper introduces an adaptive...
journal article 2020
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Valk, Laurens (author)
Passivity-based control is a well-established technique for coordinating groups of fully-actuated systems, but existing methods for underactuated systems are limited to groups of homogeneous systems, coordinate synchronization tasks, and to specific applications. We propose a generic distributed control method that enables heterogeneous groups...
master thesis 2018
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Valk, Laurens (author), Keviczky, T. (author)
We show how passivity-based control by interconnection and damping assignment (IDA-PBC) can be used as a design procedure to derive distributed control laws for undirected connected networks of underactuated and fully-actuated heterogeneous mechanical systems. With or without leaders, agents are able to reach a stationary formation in the...
journal article 2018
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De Lange, R. (author)
Underactuated grippers are developed to grasp objects of varying shape and sizes without the need to rely on sensors and feedback systems. This main aspect makes underactuated grippers efficient in their ability to automatically distribute the actuation force to multiple outputs. Besides actuating multiple phalanges by the actuation principle,...
master thesis 2015
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Bakker, D.L. (author), Matsuura, D. (author), Takeda, Y (author), Herder, J.L. (author)
Continuum manipulators are high degree of freedom structures that can use their increased degrees of freedom to navigate through an environment with obstacles. This type of manipulator is underactuated, which make them promising for adapting to their environments. However, current research is mainly focused on accurate positioning and obstacle...
conference paper 2015
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Groenewegen, M.W.M. (author)
Highly advanced robotic hand prostheses are praised for their impressive grasping and pinching capabilities. Nevertheless, a high demand remains for grasping mechanisms that are cheaper to produce, easier to assemble and lower in overall maintenance. In this paper, the idea of creating a 3D printable underactuated grasper was realized to fulfill...
master thesis 2014
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Bakker, D.L. (author)
Continuum manipulators are high degree of freedom structures that can use their increased degrees of freedom to navigate through an environment with obstacles. This type of manipulator is underactuated, which make them promising for adapting to their environments. However, current research is mainly focused on accurate positioning and obstacle...
master thesis 2013
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Goemans, V.Y. (author)
For large-displacement mechanisms, such as underactuated fingers, the out-of-plane stiffness can pose problems, especially as it tends to vary over the in-plane range of motion. In this paper a method is presented to design compliant underactuated fingers using topology optimization with a focus on obtaining a desired out-of-plane stiffness...
master thesis 2013
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Stavenuiter, R.A.J. (author)
Underactuated graspers are known for their self-adaptability. The final configuration of the grasper in which it obtains a stable grasp relies on the static equilibrium of the grasper and object. Any external or inertial force that acts on the object disturbs this static equilibrium and causes a change in the configuration of the grasper. The...
master thesis 2013
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Korstanje, J. (author)
Underactuated grippers that are designed for the pick and place industry tend to pull objects into the gripper when a firm grip is required. This movement within the gripper is sometimes undesired and can damage the object. Therefore, the goal of this study is to design an underactuated gripper mechanism that is able to establish a final and...
master thesis 2012
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Kragten, G.A. (author)
There is an emerging need to apply adaptive robotic hands to substitute humans in dangerous, laborious, or monotonous work. The state-of-the-art robotic hands cannot fulfill this need, because they are expensive, hard to control and they consist of many vulnerable motors and sensors. It is aimed to develop simple, adaptive hands that are capable...
doctoral thesis 2011
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Pape, R. (author)
The concept of underactuation is increasingly applied to hand prostheses because it minimizes the number of actuators while the fingers are adaptive to the grasped objects. However, current underactuated grasp mechanisms suffer from an intrinsic stability problem which disables them to obtain a pinch grasp, hence they fail to grasp small objects...
master thesis 2011
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Chang, Y.T. (author)
The particular category of the underactuated grippers is chosen for the automation of the item picking in distribution centers. The underactuated grippers have fewer degrees of actuation than degrees of freedom, so they are mechanically simpler than the fully-actuated grippers, and they are able to adapt to objects regardless of their shapes....
master thesis 2010
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