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IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

作者： Wang, Mingfeng Ceccarelli, Marco Carbone, Giuseppe Univ Cassino & South Latium DiCEM LARM Lab Robot & Mechatron I-03043 Cassino Fr Italy

ISBN: (纸本)9781479922802

In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator. An experimental layout is presented for investigating operational performances through lab experimental test. A prescribed motion with an isosceles trapezium trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation performance evaluation and architecture design characterization of the proposed prototype.

关键词： experimental robotics Legged Robots Parallel Manipulators Tripod Leg Mechanisams

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XTENTH-CAR: A PROPORTIONALLY SCALED experimental VEHICLE PLATFORM FOR CONNECTED AUTONOMY AND ALL-TERRAIN RESEARCH

XTENTH-CAR: A PROPORTIONALLY SCALED EXPERIMENTAL VEHICLE PLA...

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ASME International Mechanical Engineering Congress and Exposition (IMECE)

作者： Sivashangaran, Shathushan Eskandarian, Azim Virginia Tech Autonomous Syst & Intelligent Machines Lab Dept Mech Engn Blacksburg VA 24061 USA

ISBN: (纸本)9780791887639

Connected Autonomous Vehicles (CAVs) are key components of the Intelligent Transportation System (ITS), and all-terrain Autonomous Ground Vehicles (AGVs) are indispensable tools for a wide range of applications such as disaster response, automated mining, agriculture, military operations, search and rescue missions, and planetary exploration. experimental validation is a requisite for CAV and AGV research, but requires a large, safe experimental environment when using full-size vehicles which is time-consuming and expensive. To address these challenges, we developed XTENTH-CAR (experimental one-TENTH scaled vehicle platform for Connected autonomy and All-terrain Research), an open-source, cost-effective proportionally one-tenth scaled experimental vehicle platform governed by the same physics as a full-size on-road vehicle. XTENTH-CAR is equipped with the best-in-class NVIDIA Jetson AGX Orin System on Module (SOM), stereo camera, 2D LiDAR and open-source Electronic Speed Controller (ESC) with drivers written for both versions of the Robot Operating System (ROS 1 & ROS 2) to facilitate experimental CAV and AGV perception, motion planning and control research, that incorporate state-of-the-art computationally expensive algorithms such as Deep Reinforcement Learning (DRL). XTENTH-CAR is designed for compact experimental environments, and aims to increase the accessibility of experimental CAV and AGV research with low upfront costs, and complete Autonomous Vehicle (AV) hardware and software architectures similar to the full-sized X-CAR experimental vehicle platform, enabling efficient cross-platform development between small-scale and full-scale vehicles.

关键词： Autonomous Ground Vehicle Connected Autonomous Vehicle experimental robotics

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Numerical and experimental Validation of ExoFing, a Finger Exoskeleton

Numerical and Experimental Validation of ExoFing, a Finger E...

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8th European Conference on Mechanism Science

作者： Morales-Cruz, Cuauhtemoc Capalbo, Cristian Enrico Caroleo, Giammarco Ceccarelli, Marco Carbone, Giuseppe Inst Politecn Nacl GIIM Grp Res & Innovat Mechatron Mexico City 07700 DF Mexico Univ Calabria DIMEG Arcavacata Di Rende Italy Univ Roma Tor Vergata LARM2 Lab Robot Mechatron Via Politecn 1 I-00133 Rome Italy

ISBN: (纸本)9783030550639;9783030550615;9783030550608

This paper addresses the numerical and experimental validation of a finger exoskeleton exercising device. The exoskeleton device is analyzed from a kinematic and dynamic viewpoint. experimental tests are carried out with different users to demonstrate the adaptability and effectiveness of the proposed device in finger exercising and motor rehabilitation tasks.

关键词： Finger exoskeleton Motion assistance Performance evaluation experimental robotics

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Application of a 3-DOF parallel manipulator for earthquake simulations

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2006年第2期11卷 240-246页

作者： Ottaviano, E Ceccarelli, M Univ Cassino LARM I-03043 Cassino Fr Italy

In this paper a formulation and experimental results are presented for a novel application of a 3-degree of freedom (DOF) parallel manipulator to simulate point seismograms and three-dimensional (3-D) earthquake motion. The rigid body acceleration is analyzed to simulate real 3-D earthquakes. Furthermore, first experimental results are reported to analyze earthquake effects on scaled civil structures.

关键词： earthquake simulators experimental robotics parallel manipulators

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Collision free path-planning for cable-driven parallel robots

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robotics AND AUTONOMOUS SYSTEMS 2009年第11期57卷 1083-1093页

作者： Lahouar, Samir Ottaviano, Erika Zeghoul, Said Romdhane, Lotfi Ceccarelli, Marco Univ Poitiers LMS Poitiers France Univ Cassino DiMSAT LARM I-03043 Cassino FR Italy Ecole Natl Ingn Sousse LGM Sousse Tunisia

In this study, a path-planning method that has been developed for serial manipulators is adapted to cable-driven robots. The proposed method has two modes. The first one is active when the robot is far from an obstacle. In this mode, the robot moves toward the goal on a straight line. The second mode is active when the robot is near an obstacle. During this mode, the robot finds the best way to avoid the obstacle. Moreover, an algorithm is presented to detect the collision between the robot and the obstacle. A similar algorithm is also presented to avoid the collision of the cables with an obstacle. Some simulation results are shown, which are then validated experimentally using a built 4-cable-driven parallel manipulator. Although the path obtained between the initial and final poses may not be the shortest possible one, it guarantees finding a path, when it exists, no matter how cluttered the environment is. (C) 2009 Elsevier B.V. All rights reserved.

关键词： experimental robotics Parallel manipulators Cable-driven robots Path-planning Collision and singularity avoidance

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Robotic teachers' assistants - Low-cost robots for research and teaching activities

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IEEE robotics & AUTOMATION MAGAZINE 2003年第3期10卷 37-45页

作者： Ceccarelli, M Univ Cassino DiMSAT Lab Robot & Mechatron I-03043 Cassino Fr Italy

In this article, an overview of low-cost robots, discussing basic characteristics, applications, and motivation for future success, is presented. The importance of low-cost robots can be recognized by the fact that they can be available everywhere at different levels of cost and complexity. Therefore, the aim of this article is to suggest the use of low-cost robots both for teaching and investigation to any teacher or researcher in any institution with the possibility to achieve significant results. Particular attention has been addressed to research and teaching activities in university institutions with the aim to stress the fundamental role of engineers' formation in robotics by using low-cost robots with novel solutions. Examples of a successful activity using low-cost robots have been illustrated as those developed at the Laboratory of robotics and Mechatronics (LARM), Cassino, Italy.

关键词： robotics low-cost robots robot design experimental robotics teaching

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Modelling, simulation and testing of a reconfigurable cable-based parallel manipulator as motion aiding system

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APPLIED BIONICS AND BIOMECHANICS 2010年第4期7卷 253-268页

作者： Castelli, Gianni Ottaviano, Erika Univ Cassino Lab Robot & Mechatron LARM I-03043 Cassino Fr Italy

This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities. There is a high level of motivation for people with a motion disability or the elderly to perform basic daily-living activities independently. Therefore, it is of great interest to design and implement safe and reliable motion assisting and guiding devices that are able to help end-users. In general, a robot for a medical application should be able to interact with a patient in safety conditions, i.e. it must not damage people or surroundings;it must be designed to guarantee high accuracy and low acceleration during the operation. Furthermore, it should not be too bulky and it should exert limited wrenches after close interaction with people. It can be advisable to have a portable system which can be easily brought into and assembled in a hospital or a domestic environment. Cable-based robotic structures can fulfil those requirements because of their main characteristics that make them light and intrinsically safe. In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding system to move the upper and lower limbs or the whole body. Modelling and simulation are presented in the ADAMS environment. Moreover, experimental tests are reported as based on an available laboratory prototype.

关键词： parallel robots cable-based systems assisting devices experimental robotics

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Model-Free Control of a Hovering Flapping-Wing Microrobot The Design Process of a Stabilizing Multiple-Input-Multiple-Output Controller

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2015年第1期77卷 95-111页

作者： Perez-Arancibia, Nestor O. Duhamel, Pierre-Emile J. Ma, Kevin Y. Wood, Robert J. Univ So Calif Dept Aerosp & Mech Engn Los Angeles CA 90089 USA Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA Harvard Univ Wyss Inst Biol Inspired Engn Boston MA 02115 USA

We present a model-free experimental method to find a control strategy for achieving stable flight of a dual-actuator biologically inspired flapping-wing flying microrobot during hovering. The main idea proposed in this work is the sequential tuning of parameters for an increasingly more complex strategy in order to sequentially accomplish more complex tasks: upright stable flight, straight vertical flight, and stable hovering with altitude and position control. Each term of the resulting multiple-input-multiple-output (MIMO) controller has a physical intuitive meaning and the control structure is relatively simple such that it could potentially be applied to other kinds of flapping-wing robots.

关键词： Microrobotics Flapping-wing flight Real-time control experimental robotics

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A hybrid legged-wheeled obstacle avoidance strategy for service operations

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SN APPLIED SCIENCES 2020年第3期2卷 329页

作者： Christian Orozco-Magdaleno, Ernesto Cafolla, Daniele Castillo-Castaneda, Eduardo Carbone, Giuseppe Inst Politecn Nacl Queretaro Mexico IRCCS Neuromed Pozzilli IS Italy Univ Calabria DIMEG Cosenza Italy

Hybrid legged-wheeled robots are gaining interest in various service applications, like surveillance or inspection in hospitals. The autonomy of these robots is not only related to their power consumption, it mostly refers to their capability to safely move in complex partially structured environments. This paper proposes to investigate the combination of different moving strategies and sensors to enhance the adaptability and autonomy of a hybrid hexapod robot in specific environments shared with humans. Namely, this paper proposes a locomotion strategy that combines leg motions and Mecanum omniwheels with multiple sensory feedbacks to achieve safe obstacle avoidance during a service operation. Several experimental tests are carried out by using Cassino Hexapod III in combination with sonar, IMU and Lidar sensors at IRCCS Neuromed site in Pozzilli. experimental results show the effectiveness of the proposed operation strategy with Cassino Hexapod III to avoid multiple obstacles.

关键词： Obstacle avoidance Mobile robot experimental robotics Service robotics

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A self-reconfigurable modular robot: Reconfiguration planning and experiments

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2002年第10-11期21卷 903-915页

作者： Yoshida, E Murata, S Kamimura, A Tomita, K Kurokawa, H Kokaji, S Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Inst Distributed Syst Design Res Grp Tsukuba Ibaraki 3058564 Japan

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a simple mechanism, self-reconfiguration planning for locomotion presents a computationally difficult problem due to the many combinatorial possibilities of modular configurations. In this paper, we develop a two-layered planning method for locomotion of a class of regular structures. This locomotion mode is based on multi-module blocks. The upper layer plans the overall cluster motion called flow to realize locomotion along a given desired trajectory;the lower layer determines locally cooperative module motions, called motion schemes, based on a rule database. A planning simulation demonstrates that this approach effectively solves the complicated planning problem. Besides the fundamental motion capacity of the module, the hardware feasibility of the planning locomotion is verified through a self-reconfiguration experiment using the prototype modules we have developed.

关键词： self-reconfigurable robot modular robotics planning hierarchical planner experimental robotics

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