4.8 Article

Parametric PH Curves Model Based Kinematic Control of the Shape of Mobile Soft Manipulators in Unstructured Environment

相关参考文献

注意:仅列出部分参考文献,下载原文获取全部文献信息。
Article Robotics

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models

S. M. Hadi Sadati et al.

Summary: In this study, two new modeling methods for continuum manipulators are introduced, including a general reduced-order model and a discretized model with absolute states and Euler-Bernoulli beam segments. These models are implemented in a Matlab software package to develop a modeling tool for hybrid rigid-continuum systems, showing improved simulation accuracy and computational efficiency.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021)

Article Automation & Control Systems

Dynamic Control of Multisection Three-Dimensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models

Chengshi Wang et al.

Summary: This article presents a novel control strategy for trajectory control of multisection continuum robots in three-dimensional space. By connecting the dynamic behavior of the continuum manipulator to a virtual discrete-jointed robot, a computed torque control architecture is developed, resulting in improved performance during various maneuvers.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

Article Robotics

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment

Cosimo Della Santina et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2020)

Proceedings Paper Engineering, Electrical & Electronic

Path Planning and Control of Mobile Soft Manipulators with Obstacle Avoidance

Steeve Mbakop et al.

2020 3RD IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) (2020)

Article Computer Science, Theory & Methods

Existence of Pythagorean-hodograph quintic interpolants to spatial G1 Hermite data with prescribed arc lengths

Rida T. Farouki

JOURNAL OF SYMBOLIC COMPUTATION (2019)

Proceedings Paper Computer Science, Artificial Intelligence

Kinematic Modeling of a Soft Pneumatic Actuator Using Cubic Hermite Splines

Mats Wiese et al.

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2019)

Proceedings Paper Computer Science, Artificial Intelligence

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and Optimization

Alan Kuntz et al.

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2019)

Article Robotics

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves

Inderjeet Singh et al.

SOFT ROBOTICS (2018)

Article Automation & Control Systems

Dynamic Control of the Bionic Handling Assistant

Valentin Falkenhahn et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2017)

Article Automation & Control Systems

Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator

Othman Lakhal et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2016)

Article Computer Science, Artificial Intelligence

Path planning for mobile robots using Bacterial Potential Field for avoiding static and dynamic obstacles

Oscar Montiel et al.

EXPERT SYSTEMS WITH APPLICATIONS (2015)

Article Automation & Control Systems

Kinematic Calibration of a Multisection Bionic Manipulator

Coralie Escande et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2015)

Article Mathematics, Applied

Hermite interpolation by rotation-invariant spatial Pythagorean-hodograph curves

RT Farouki et al.

ADVANCES IN COMPUTATIONAL MATHEMATICS (2002)