... Ali Shiva ... I also want to thank Dr. Wang from the SIE dept., for his golden sentence_final... more ... Ali Shiva ... I also want to thank Dr. Wang from the SIE dept., for his golden sentence_finally engraved in my head after an interesting series of debates_ you don't need feedback. As for the folks I met at CAEL: Lin, Thorsten, Jens, Sudareshan, Xiang, Michael, Ananth, and Juan ...
This chapter proposes an alternative actuation principle that investigates the capability of vari... more This chapter proposes an alternative actuation principle that investigates the capability of variable stiffness of a continuum silicon-based manipulator which was primarily developed for Minimally Invasive Surgery (MIS). Inspired by biological muscular composition, we have designed a hybrid actuation mechanism that can be alternatively used for STIFF-FLOP manipulator. The current soft robot is actuated by pneumatic pressure, in addition to incorporating tendons’ tension, which are placed within the soft robot’s body. Experiments are conducted by exerting an externally applied force in different poses, and simultaneously varying the stiffness via the tendons. Test results are demonstrated, and it is observed that dual antagonistic actuation, with the benefit of higher force capacities, could indeed promise enhancing soft robotics morphological features.
The rigid-link manipulators have been extensively employed in industrial setting nowadays. Howeve... more The rigid-link manipulators have been extensively employed in industrial setting nowadays. However, problem arises when such manipulators are assigned to work alongside human or employed in cluttered, complex, and tight environment. Hence, continuum manipulator, with its inherent compliant and flexibility, is preferable in this aspect. In this paper, we present our recent work presenting a real-time pose estimation and obstacle avoidance for continuum manipulator in dynamic environments. The approach is shown to work in a model of both single-segment and multi-segment continuum manipulator and also in a real tendon-driven single-segment continuum manipulator in dynamic environment, and thus, suitable to be used in human environments.
The International Journal of Robotics Research, 2020
A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and cont... more A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex fun...
... Ali Shiva ... I also want to thank Dr. Wang from the SIE dept., for his golden sentence_final... more ... Ali Shiva ... I also want to thank Dr. Wang from the SIE dept., for his golden sentence_finally engraved in my head after an interesting series of debates_ you don't need feedback. As for the folks I met at CAEL: Lin, Thorsten, Jens, Sudareshan, Xiang, Michael, Ananth, and Juan ...
This chapter proposes an alternative actuation principle that investigates the capability of vari... more This chapter proposes an alternative actuation principle that investigates the capability of variable stiffness of a continuum silicon-based manipulator which was primarily developed for Minimally Invasive Surgery (MIS). Inspired by biological muscular composition, we have designed a hybrid actuation mechanism that can be alternatively used for STIFF-FLOP manipulator. The current soft robot is actuated by pneumatic pressure, in addition to incorporating tendons’ tension, which are placed within the soft robot’s body. Experiments are conducted by exerting an externally applied force in different poses, and simultaneously varying the stiffness via the tendons. Test results are demonstrated, and it is observed that dual antagonistic actuation, with the benefit of higher force capacities, could indeed promise enhancing soft robotics morphological features.
The rigid-link manipulators have been extensively employed in industrial setting nowadays. Howeve... more The rigid-link manipulators have been extensively employed in industrial setting nowadays. However, problem arises when such manipulators are assigned to work alongside human or employed in cluttered, complex, and tight environment. Hence, continuum manipulator, with its inherent compliant and flexibility, is preferable in this aspect. In this paper, we present our recent work presenting a real-time pose estimation and obstacle avoidance for continuum manipulator in dynamic environments. The approach is shown to work in a model of both single-segment and multi-segment continuum manipulator and also in a real tendon-driven single-segment continuum manipulator in dynamic environment, and thus, suitable to be used in human environments.
The International Journal of Robotics Research, 2020
A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and cont... more A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex fun...
Uploads