As cyber threats continue to evolve in complexity, traditional malware detection methods often fall short in identifying sophisticated attacks. Multimodal analysis, which integrates various data sources and analytical...
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Soft robots have attracted significant interest due to their capability to interact, adapt and reconfigure in response to external stimuli. Due to their low modulus constitutive materials, intrinsic safety is embedded...
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ISBN:
(纸本)9781665408288
Soft robots have attracted significant interest due to their capability to interact, adapt and reconfigure in response to external stimuli. Due to their low modulus constitutive materials, intrinsic safety is embedded in softrobots, allowing them to perform tasks that are nearly impossible with rigid counterparts. Nevertheless, the resulting highly nonlinear response of such materials renders the kinematical prediction and control of soft robots challenging, ofter requiring sophisticated sensing and processing state processing algorithms. Leveraging multistability offers exciting opportunities to encode several stable states of soft robots, ultimately simplifying the actuation and control problems. We present a pneumatically actuated soft gripper with encoded multiple stable states that provide a route to shape reconfiguration without closed-loop control. Informed by the mechanics of hierarchically multistable metastructures, we design coexisting states resembling different actuation modes in soft manipulators, including grasping and twisting. this is achieved by leveraging distinct path-dependent inversion sequences to access desired coexisting states on-demand. Our strategy offers a new route for controlling soft multistable robots exploiting their strong nonlinear mechanics to the designer's advantage.
Robots have emerged as versatile tools with significant potential to enhance teaching and learning environments, including classrooms, laboratories, play homes, crèches, and even at home. their engaging nature ca...
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Friction is the force resisting relative motions between two bodies, it causes cycle oscillations and impairs closedloop tracking performance for robot manipulators. To address this problem, in this paper, we propose ...
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the article deals withthe possibilities, design and implementation of a functional model of the workplace of cooperating robotic arms. It is assumed the possibility of defining precise positioning along a specified c...
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the article deals withthe possibilities, design and implementation of a functional model of the workplace of cooperating robotic arms. It is assumed the possibility of defining precise positioning along a specified contour with force measurement or by checking withthe camera system. Synchronization between robotic arms can be ensured by an internal bus, SW and HW modules from FANUC. It is also possible to implement synchronization with a master (superior) PLC control system, which will enable the integration of robotic arms with other devices, machines, input/output elements, safety components and visual communication.
Developing feedback controllers for robots with embedded sensors is challenging and typically requires expert knowledge. As machine learning (ML) advances, the development of learning-based controllers has become more...
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ISBN:
(纸本)9781665497701
Developing feedback controllers for robots with embedded sensors is challenging and typically requires expert knowledge. As machine learning (ML) advances, the development of learning-based controllers has become more and more accessible, even to non-experts. this work presents the development of a tutorial to educate non-roboticists about ML-based sensing and control in cyber-physical systems using a soft robotic device. We demonstrated this by creating a recurrent neural network-based closed-loop force controller for a soft finger with embedded soft sensors. Our hypothesis is validated in a 2.5-hour workshop session for students with no prior knowledge of robot control. this work serves as a tutorial for participants aiming to experience and perform a general benchmark for soft robot control tasks, with little or even no expertise in robotics.
the loss of mobility due to amputation or severe damage to the ankle joint can significantly reduce a person's quality of life. the ankle joint and foot play a key role in maintaining balance, movement, and weight...
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Conventional robotic grippers are rigid mechanisms that use suction for grasping objects and are often not used in areas like the food/agriculture industries due to the highly varying sizes, shapes, and weights of the...
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the robot soccer game has been recognized as an excellent scenario to test the gaming algorithm of multi-agent systems. this paper develops a new simulation platform for the robot soccer game, and it has the advantage...
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In recent years, the inverse pneumatic artificial muscles attained great attention in soft robotics, especially for the wider motion range compared to traditional positive pneumatic actuators. Besides self-sensing is ...
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ISBN:
(纸本)9781665408288
In recent years, the inverse pneumatic artificial muscles attained great attention in soft robotics, especially for the wider motion range compared to traditional positive pneumatic actuators. Besides self-sensing is a recognized highly desirable property for soft actuators to enable proprioception and to facilitate the soft robots control, a self-sensing strategy for a soft inverse pneumatic muscle was still missing. In this paper, we present the first self-sensing inverse pneumatic artificial muscle in which the reinforcing but compliant element that guides the actuator motion during actuation has not only a mechanical function but, being also electrically conductive, it endows the actuator with self-sensing. Here, the actuator design and manufacturing are described, together with an electromechanical characterization. In addition, we demonstrate its self-sensing capability in a dynamic setting, by predicting the actuator strain from its electric resistance variation, through a calibration model.
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