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Design Method of Integrated SMA Leg for Small sized six legged robot |
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Ibuki Matsui(Shibaura Institute of Technology, Japan), Sumito Nagasawa(Shibaura Institute of Techanology, Japan) |
| In the natural world most animals having six legs are small size. Since small size animals could have the important advantage of six-legged walking, we investigate the scale effects for dynamic walking characteristics using six-legged robots of variety size. We are designing a small sized six-legged robot which is driven by SMA (Shape Memory Alloy). As the articular structure of the robot leg is the most important element, in this paper we discuss a design method of the leg for evaluating dynamic walking characteristics. |
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Multi-Input Multi-Output Adaptive Torque Control of 9-DOF Hyper-Redundant Robotic Arm |
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Xingsheng Xu, Raul Ordonez(University of Dayton, United States) |
| In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses a conventional fuzzy system to provide asymptotic end-effector tracking of a reference path for a 9-DOF hyper-redundant manipulator. It is illustrated via simulations that the MIMO adaptive controller, which drives the torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a reference in work space. |
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A Tension Distribution Algorithm for Cable-Driven Parallel Robots Operating Beyond their Wrench-Feasible Workspace |
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Alexis Fortin-Côté, Philippe Cardou, Clément Gosselin(Université Laval, Canada) |
| One of the main concerns in the control of over-constrained cable driven parallel mechanisms is the handling of the tension distribution. One problem that remains to be addressed is the handling of cable tensions when the end-effector moves beyond its wrench-feasible workspace, a situation that can arise when the robot is used as a haptic interface. This paper presents an algorithm based on quadratic programming that is capable of handling these situations in real time. |
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Mechanism and Base Control of Human-Friendly Robot with Passive Collision Force Suppression Mechanism |
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Shunsuke Kumagai, Koki Matsumoto(Kanagawa University, Japan), Atsuo Takanishi(Waseda Unversity, Japan), Hun-ok Lim(Kanagawa University, Japan) |
| This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression mechanism is installed in the pitch axis of the elbow and the yaw axis of the waist. The base consists of four omnidirectional wheels. Moreover, the control method for the base is discussed in this study. Using the robot, collision experiments are conducted and the effectiveness of the robot mechanism and the control method is verified. |
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Simultaneous Dual-arm Motion Planning for Pick-up and Place |
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Jun Kurosu, Ayanori Yorozu, Masaki Takahashi(Keio University, Japan) |
| One of the most basic tasks that the dual-arm robot does is the pick-up and place work. However, this work is more complicated when there are several objects in the robot’s work space.We propose the method using combination of two approaches to achieve an efficient pick-up and place work by the dual-arm robot. First, we conduct mixed integer linear programming for the pick-up and place work to determine which arms should move an object and in which order these objects should be moved considering the dual-arm robot’s operation range. Second, we plan the path to not collide with obstacles. |
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