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experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

Chinese Journal of Mechanical Engineering 2011年第5期24卷 713-722页

作者： CECCARELLI Marco CARBONE Giuseppe Laboratory of Robotics and Mechatronics (LARM) University of Cassino

An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected or simplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presented through results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs （degrees of freedom） parallel manipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan （Cassino Parallel Manipulator）, which are convenient stiff architectures with easy-operation characteristics. experimental tests are carried out with the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements, accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulator solution imitating human torso. experimental test results are illustrated and discussed to show the practical operation feasibility of the proposed architecture and the operation characteristics of the built prototype.

关键词： humanoid robots waist-trunk system parallel manipulators experimental robotics

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The GRASP Multiple Micro-UAV Test Bed experimental Evaluation of Multirobot Aerial Control Algorithms

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IEEE robotics & AUTOMATION MAGAZINE 2010年第3期17卷 56-65页

作者： Michael, Nathan Mellinger, Daniel Lindsey, Quentin Kumar, Vijay Univ Penn GRASP Lab Philadelphia PA 19104 USA

In the last five years, advances in materials, electronics, sensors, and batteries have fueled a growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 and 0.5 m in length and 0.1-0.5 kg in mass [1]. A few groups have built and analyzed MAVs in the 10-cm range [2], [3]. One of the smallest MAV is the Picoflyer with a 60-mm propellor diameter and a mass of 3.3 g [4]. Platforms in the 50-cm range are more prevalent with several groups having built and flown systems of this size [5]-[7]. In fact, there are several commercially available radiocontrolled (RC) helicopters and research-grade helicopters in this size range [8].

关键词： experimental robotics multirobot control aerial robotics testbed design

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experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2020年第1期100卷 223-237页

作者： Cafolla, Daniele Russo, Matteo Ceccarelli, Marco IRCCS Neuromed Pozzilli IS Italy Univ Cassino & Southern Latium LARM Lab Robot & Mechatron DICEM Cassino Italy

Activity in Cultural Heritage frames aims to have a good monitoring of unknown cultural heritage also in an inaccessible site decreasing the cost of interventions. There are several robotics systems available both as rovers and drones. They are suited for inspection tasks in risky environments or for surveillance purposes provided of several sensors able to detect and monitor the area under examination, sometimes they can be also equipped with an end-effector for manipulation tasks or to collect objects. This paper introduces HeritageBot III (HBIII), a service robot for Cultural Heritage frames, which consists in a robotic platform with a modular design for both ground locomotion and flight capability. The proposed design is able to merge the advantages of drone and legged mobile robots in an innovative platform, able to navigate in most unknown environment.

关键词： Robot design Mobile robotics Prototypes experimental robotics Application for cultural heritage

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An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking

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ROBOTICA 2010年第1期28卷 119-133页

作者： Ottaviano, Erika Ceccarelli, Marco Palmucci, Francesco Univ Cassino Lab Robot & Mechatron DiMSAT I-03043 Cassino FR Italy

In this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. experimental determination of articulation mobility is also presented with numerical and experimental results.

关键词： experimental robotics Parallel manipulators Cable-based architectures Measuring systems Medical applications

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experimental tests in human-robot collision evaluation and characterization of a new safety index for robot operation

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MECHANISM AND MACHINE THEORY 2014年 80卷 184-199页

作者： Alen Cordero, Cristina Carbone, Giuseppe Ceccarelli, Marco Echavarri, Javier Luis Munoz, Jose Escuela Politecn Alcala Henares Dept Teoria Senal & Comunicac Madrid 28871 Spain Univ Cassino & Southern Lazio DICeM Lab Robot & Mechatron LARM I-03043 Cassino Fr Italy Univ Politecn Madrid Div Ingn Maquinas Madrid 28002 Spain

This paper describes an experimental procedure consisting of impact tests that simulate a collision of a human head with an industrial robot with the aim to validate a safety index named as New Index for Robots (NIR) and its outputs. The experiments in this paper are based on lab tests. It is an attempt to characterize the NIR index underlying the main parameters that are involved in crash interaction and to highlight limitations and weakness of suggested impact tests. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： experimental robotics Safety criteria Index formulation Human-robot interaction

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Numerical and experimental performance estimation for a ExoFing-2 DOFs finger exoskeleton

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ROBOTICA 2022年第6期40卷 1820-1832页

作者： Carbone, G. Ceccarelli, M. Capalbo, C. E. Caroleo, G. Morales-Cruz, C. Univ Calabria DIMEG Dept Mech Energy & Management Engn Arcavacata Di Rende Italy Univ Roma Tor Vergata Dept Ind Engn DII Rome Italy Inst Politecn Nacl GIIM Grp Res & Innovat Mechatron Mexico City 07700 DF Mexico

This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

关键词： biomechanics exoskeleton motion assistance performance evaluation experimental robotics

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experimental tests on feasible operation of a finger mechanism in the LARM hand

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MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES 2008年第1期36卷 1-13页

作者： Carbone, Giuseppe Ceccarelli, Marco Univ Cassino DiMSAT Lab Robot & Mechatron I-03043 Cassino FR Italy

The feasibility and efficiency of a finger mechanism in the LARM Hand have been verified through experimental tests in terms of both operation performance and design characteristics. In this paper, we have reported how to carry out an experimental evaluation of mobility and stiffness characteristics of the finger mechanism in the LARM Hand. Results of laboratory tests show the soundness of the testing procedure and feasibility of the finger mechanism design.

关键词： experimental robotics finger mechanisms grasp

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Numerical and experimental characterization of singularities of a six-wire parallel architecture

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ROBOTICA 2007年第Part3期25卷 315-324页

作者： Ottaviano, Erika Ceccarelli, Marco Univ Cassino Lab Robot & Mechatron I-03043 Cassino FR Italy

A characterization of singularities for a six-wire parallel architecture is presented as a result of numerical and experimental analyses. Numerical analysis has been developed through geometrical and analytical considerations. The study is based on a classification that has been derived on the basis of the geometry of tetrahedra, and singular configurations have been classified as a function of the tetrahedron volume. experimental characterization has been carried out by considering the wire parallel architecture Cassino tracking system (CATRASYS). experimental results are reported to characterize the performance of the CATRASYS chain in different operating conditions as an illustrative practical example.

关键词： experimental robotics wire parallel architectures measuring systems singularity characterization

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An experimental validation of CaPaMan as earthquake simulator

An experimental validation of CaPaMan as earthquake simulato...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 01)

作者： Lanni, C Pugliese, F Ceccarelli, M Univ Cassino Lab Robot & Mechatron DIMSAT I-03043 Cassino FR Italy

ISBN: (纸本)0780367367

In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that we have verified the numerical simulations with practical experiments. Reproducing accelerometer diagram of really happened earthquakes has proved the practical feasibility. experimental results have been reported in this paper to show the interest for this application of CaPaMan.

关键词： parallel manipulators experimental robotics earthquake simulators

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experimental Performance Characterization of Torveastro Limb 5th

Experimental Performance Characterization of Torveastro Limb

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-Machine-Science IFToMM ITALY (IFIT)

作者： Shine, Kayitare Ida Ceccarelli, Marco Univ Roma Tor Vergata Lab Robot Mechatron I-00133 Rome Italy

The Torveastro limb functionality is tested with a suitable testbed that is designed for operation simulation and performance monitoring. Results are reported and discussed from tests validating both functionality and... 详细信息

ISBN: (纸本)9783031645556;9783031645532;9783031645525

关键词： experimental robotics Testing Performance Torveastro robot

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