Concept
Parallel manipulator
Related publications (54)
Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators
This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021Extensible High Force Manipulator For Complex Exploration
The development of compliant robotic manipulators which can show length change, compliance and dexterity could assist many challenging applications. Potential applications range from dexterous manipulation, robotic surgery or exploration of challenging env ...
Institute of Electrical and Electronics Engineers Inc.2020Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’
Jamie Paik, Matthew Aaron Robertson, Özdemir Can Kara
This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...
2020MATHICSE Technical Report : Generalized Parallel Tempering on Bayesian Inverse Problems
Fabio Nobile, Juan Pablo Madrigal Cianci
In the current work we present two generalizations of the Parallel Tempering algorithm, inspired by the so-called continuous-time Infinite Swapping algorithm. Such a method, found its origins in the molecular dynamics community, and can be understood as th ...
MATHICSE2020A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators
This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a ...
MDPI2018An anthropomorphic soft skeleton hand exploiting conditional models for piano playing
The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such ...
American Association for the Advancement of Science2018The Design of A New Rotary Hexapod with A Single Active Degree of Freedom
This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...
2017Modular and reconfigurable desktop microfactory for high precision manufacturing
Sub-millimeter scale devices are developing rapidly taking smaller, smarter, and more precise forms. This is achieved thanks to advancements in micro-manufacturing tools and techniques. For micro-production, a miniaturization of the machinery is a prominen ...
Springer London Ltd2017A singularity-tolerant inverse kinematics including joint position and velocity limitations
Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...
2017