Download or read book A New Actuation Approach for Bio inspired Human friendly Robots written by Dong Jun Shin and published by Stanford University. This book was released on 2011 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing demand for physical interaction between humans and robots has led to an interest in robots whose behavior is guaranteed to be safe when they are in close proximity with humans. However, attaining sufficiently high levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing, and control. To promote safety without compromising performance, a new actuation concept, referred to as hybrid actuation, has been developed. Since low impedance output at high frequencies is essential for robot safety, while optimal passive stiffness is needed for robot performance, the new actuation approach employs a pneumatic artificial muscle as a macro actuator to provide low-frequency torques. Artificial pneumatic muscles provide high force-to-weight ratio and inherent compliance, both of which allow for low impedance actuation. To compensate for the slow and non-linear dynamics of pneumatic actuation, a small electromagnetic actuator collocated at the robot's joint is employed as a mini actuator, which provides high mechanical bandwidth for high performance without increasing the inertia and size of the manipulator. To achieve the appropriate balance between safety and performance, design methodologies were developed that optimally determine key design parameters such as the required mini motor torque capacity, the joint stiffness introduced by an antagonistic pair of muscles, and the pulley radius. Using a testbed, referred to as the Stanford Safety Robot (S2rho), the hybrid actuation was evaluated for position tracking performance, force tracking performance, and impact behavior. The experimental results demonstrate that by significantly improving control performance with the hybrid actuation over performance with pneumatic muscles alone, while reducing the effective inertia significantly, the competing design objectives of safety and performance can be successfully integrated into a single robotic manipulator. As an extension of the hybrid actuation concept, the new design of dual four-degree-of-freedom robotic arms with torso is presented and detailed descriptions of the design are included.
Download or read book A New Actuation Approach for Bio inspired Human friendly Robots written by Dong Jun Shin and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing demand for physical interaction between humans and robots has led to an interest in robots whose behavior is guaranteed to be safe when they are in close proximity with humans. However, attaining sufficiently high levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing, and control. To promote safety without compromising performance, a new actuation concept, referred to as hybrid actuation, has been developed. Since low impedance output at high frequencies is essential for robot safety, while optimal passive stiffness is needed for robot performance, the new actuation approach employs a pneumatic artificial muscle as a macro actuator to provide low-frequency torques. Artificial pneumatic muscles provide high force-to-weight ratio and inherent compliance, both of which allow for low impedance actuation. To compensate for the slow and non-linear dynamics of pneumatic actuation, a small electromagnetic actuator collocated at the robot's joint is employed as a mini actuator, which provides high mechanical bandwidth for high performance without increasing the inertia and size of the manipulator. To achieve the appropriate balance between safety and performance, design methodologies were developed that optimally determine key design parameters such as the required mini motor torque capacity, the joint stiffness introduced by an antagonistic pair of muscles, and the pulley radius. Using a testbed, referred to as the Stanford Safety Robot (S2rho), the hybrid actuation was evaluated for position tracking performance, force tracking performance, and impact behavior. The experimental results demonstrate that by significantly improving control performance with the hybrid actuation over performance with pneumatic muscles alone, while reducing the effective inertia significantly, the competing design objectives of safety and performance can be successfully integrated into a single robotic manipulator. As an extension of the hybrid actuation concept, the new design of dual four-degree-of-freedom robotic arms with torso is presented and detailed descriptions of the design are included.
Download or read book Novel Bioinspired Actuator Designs for Robotics written by Philipp Beckerle and published by Springer Nature. This book was released on 2021-09-04 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses biologically inspired robotic actuators designed to offer improved robot performance and approaching human-like efficiency and versatility. It assesses biological actuation and control in the human motor system, presents a range of technical actuation approaches, and discusses potential applications in wearable robots, i.e., powered prostheses and exoskeletons. Gathering the findings of internationally respected researchers from various fields, the book provides a uniquely broad perspective on bioinspired actuator designs for robotics. Its scope includes fundamental aspects of biomechanics and neuromechanics, actuator and control design, and their application in (wearable) robotics. The book offers PhD students and advanced graduate students an essential introduction to the field, while providing researchers a cutting-edge research perspective.
Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2017-12-19 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers.
Download or read book A New Actuation Approach for Human friendly Robotic Manipulation written by Michael R. Zinn and published by . This book was released on 2005 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Bioinspired Design and Control of Robots with Intrinsic Compliance written by Yongping Pan and published by Frontiers Media SA. This book was released on 2020-12-04 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: This eBook is a collection of articles from a Frontiers Research Topic. Frontiers Research Topics are very popular trademarks of the Frontiers Journals Series: they are collections of at least ten articles, all centered on a particular subject. With their unique mix of varied contributions from Original Research to Review Articles, Frontiers Research Topics unify the most influential researchers, the latest key findings and historical advances in a hot research area! Find out more on how to host your own Frontiers Research Topic or contribute to one as an author by contacting the Frontiers Editorial Office: frontiersin.org/about/contact.
Download or read book Experimental Robotics written by Oussama Khatib and published by Springer. This book was released on 2009-03-28 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer. This book was released on 2015-08-19 with total page 586 pages. Available in PDF, EPUB and Kindle. Book excerpt: This three volume set LNAI 9244, 9245, and 9246 constitutes the refereed proceedings of the 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, held in Portsmouth, UK, in August 2015. The 46 papers included in the third volume are organized in topical sections on mobile robots and intelligent autonomous systems; intelligent system and cybernetics; robot mechanism and design; robotic vision; recognition and reconstruction; and active control in tunneling boring machine.
Download or read book Experimental Robotics written by Jaydev P. Desai and published by Springer. This book was released on 2013-07-09 with total page 966 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.
Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.
Download or read book Mechanical Engineering written by Murat Gokcek and published by BoD – Books on Demand. This book was released on 2012-04-11 with total page 686 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book substantially offers the latest progresses about the important topics of the "Mechanical Engineering" to readers. It includes twenty-eight excellent studies prepared using state-of-art methodologies by professional researchers from different countries. The sections in the book comprise of the following titles: power transmission system, manufacturing processes and system analysis, thermo-fluid systems, simulations and computer applications, and new approaches in mechanical engineering education and organization systems.
Download or read book Advances in Bio Inspired Robots written by Taewon Seo and published by Mdpi AG. This book was released on 2021-11-26 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced.
Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by . This book was released on 2017 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology-biomimetics-has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors-biorobotic modeling and analysis-provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material-considerably expanded and with additional analysis-from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human-machine interactions A state-of-the-art resource for graduate students and researchers in th.
Download or read book Human Friendly Robotics 2023 written by Cristina Piazza and published by Springer Nature. This book was released on with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nature Inspired Robotics written by Jagjit Singh Dhatterwal and published by CRC Press. This book was released on 2024-07-24 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the theories and methods of Nature-Inspired Robotics in artificial intelligence. Software and hardware technologies, alongside theories and methods, illustrate the application of bio-inspired artificial intelligence. It includes discussions on topics such as Robot Control Manipulators, Geometric Transformation, Robotic Drive Systems and Nature Inspired Robotic Neural System. Elaborating upon recent progress made in five distinct configurations of nature-inspired computing, it explores the potential applications of this technology in two specific areas: neuromorphic computing systems and neuromorphic perceptual systems. · Discusses advances in cutting-edge technology in brain-inspired computing, perception technologies and aspects of neuromorphic electronics · Offers a thorough introduction to two-terminal neuromorphic memristors, including memristive devices and resistive switching mechanisms · Provides comprehensive explorations of spintronic neuromorphic devices and multi-terminal neuromorphic devices with cognitive behaviours · Includes cognitive behaviour of Inspired Robotics and cognitive technologies with applications in Artificial Intelligence · Contains practical discussions of neuromorphic devices based on chalcogenide and organic materials. This text acts as a reference book for students, scholars, and industry professionals.
Download or read book Soft Material Robotics written by Liyu Wang and published by . This book was released on 2017-04-12 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces the fundamentals aspects of the topic from history, modelling, control, and system integration. The last decade has witnessed an increasing interest in the more active use of soft materials in robotic systems. Having a soft body like the ones in biological systems can potentially provide a robot with superior capabilities.
Download or read book Bio inspired Robotics written by Toshio Fukuda and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
