An origami continuum robot capable of precise motion through torsionally stiff body and smooth inverse kinematics
J Santoso, CD Onal - Soft Robotics, 2021 - liebertpub.com
Continuum robot arms, with their hyper-redundant continuously deformable bodies, show
great promise in applications deemed impossible for traditional rigid robot arms with discrete …
great promise in applications deemed impossible for traditional rigid robot arms with discrete …
A versatile continuum grip** robot with a concealable gripper
Continuum robots with their inherent compliance provide the potential for crossing narrow
unstructured workspace and safely gras** various objects. However, the display gripper …
unstructured workspace and safely gras** various objects. However, the display gripper …
Sim2real kinematics modeling of industrial robots based on FPGA-acceleration
W Liu, C Zhao, Y Liu, H Wang, W Zhao… - Robotics and Computer …, 2022 - Elsevier
It is challenging to apply robotic inverse kinematics directly in simulation to real robot motion
due to the multi-configuration problem, robot end deviation, and delay. To this end, this …
due to the multi-configuration problem, robot end deviation, and delay. To this end, this …
A reliable algorithm for obtaining all-inclusive inverse kinematics' solutions and redundancy resolution of continuum robots
This paper presents a reliable algorithm for solving the inverse kinematic (IK) problem of
continuum robots. Admittedly, there are an infinite number of configurations to get the robot's …
continuum robots. Admittedly, there are an infinite number of configurations to get the robot's …
An actuator space optimal kinematic path tracking framework for tendon-driven continuum robots: Theory, algorithm and validation
K Qiu, H Zhang, J Zhang, R **ong… - … Journal of Robotics …, 2024 - journals.sagepub.com
Path tracking of continuum robots is a fundamental and crucial problem across various
applications. In this article, we address this problem by focussing on three aspects. Firstly …
applications. In this article, we address this problem by focussing on three aspects. Firstly …
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make
them well suited for constrained environments. Solving the inverse kinematics (IK), that is …
them well suited for constrained environments. Solving the inverse kinematics (IK), that is …
Kinematic analysis and virtual prototype simulation of the thrust mechanism for shield machine
X Wang, D Yuan, X Wang, J Wu - Applied Sciences, 2022 - mdpi.com
The hydraulic thrust system of the shield machine is used for driving forward and pose
adjustment. It is of great significance to figure out the thrust mechanism and motion …
adjustment. It is of great significance to figure out the thrust mechanism and motion …
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Piecewise constant curvature is a popular kinematics framework for continuum robots.
Computing the model parameters from the desired end pose, known as the inverse …
Computing the model parameters from the desired end pose, known as the inverse …