Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs ...Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles.To cope with this problem,we propose a fused-deposition-modeling-printable(FDM-printable)TDCR structure design using a serial S-shaped backbone,which enables planar bending motion with minimized plastic deformation.A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model(PRBM)approach is developed.Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces.In addition,analyses of mechanical hysteresis and factors influencing bending stiffness are conducted.Finally,A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure.展开更多
In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective col...In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective collaboration.Nevertheless,the control precision and coordination of the accompanying actions are not satisfactory in practical applications.This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot.This paper proposes a companion control strategy based on the Linear Quadratic Regulator(LQR)to enhance the coordination and precision of robot companion tasks.This method enables the robot to adapt to sudden changes in the companion target's motion.Besides,the robot could smoothly avoid obstacles during the companion process.Firstly,a human-robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target.Then,an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target's direction and velocity.Finally,various simulations and real-world human-robot companion experiments are conducted to regulate the relative position,orientation,and velocity between the target object and the robot platform.Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation.The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.展开更多
Earthquake and other disasters nowadays still threat people's lives and property due to their de-structiveness and unpredictability.The past decades have seen the booming development of search and rescue robots du...Earthquake and other disasters nowadays still threat people's lives and property due to their de-structiveness and unpredictability.The past decades have seen the booming development of search and rescue robots due to their potential for increasing rescue capacity as well as reducing personnel safety risk at disaster sites.In this work,we propose a spider-inspired wheeled compliant leg to further improve the environmental adaptability of search mobile robots.Different from the traditional fully-actuated method with independent motor joint control,this leg employs an under-actuated compliant mechanism design with overall semi-tendon-driven control,which enables the passive and active terrain adaptation,system simplification and lightweight of the realized search robot.We have generalized the theoretical model and design methodology for this type of compliant leg,and implement it in a parametric program to improve the design efficiency.In addition,preliminary load capacity and leg-lifting experiments are carried out on a one-leg prototype to evaluate its mechanical performance.A four-legged robot platform is also fabricated for the locomotion tests.The preliminary experimental results have verified the feasibility of the proposed design methodology,and also show possibilities for improvements.In future work,structural optimization and stronger actuation elements should be introduced to further improve the mechanical performance of the fabricated wheeled leg mechanism and robot platform.展开更多
基金supported by the teaching funding of TUM School of Engineering and Design.
文摘Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles.To cope with this problem,we propose a fused-deposition-modeling-printable(FDM-printable)TDCR structure design using a serial S-shaped backbone,which enables planar bending motion with minimized plastic deformation.A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model(PRBM)approach is developed.Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces.In addition,analyses of mechanical hysteresis and factors influencing bending stiffness are conducted.Finally,A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure.
基金supported in part by the National Natural Science Foundation of China(61973293)the Fujian Provincial Science and Technology Plan Project(2023T3008,2023T3069,and 2023T3084)+1 种基金the Quanzhou Science and Technology Plan Project(2022FX7)the Open Project Program of Fujian Key Laboratory of Special Intelligent Equipment Measurement and Control(FJIES2023KF02).
文摘In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective collaboration.Nevertheless,the control precision and coordination of the accompanying actions are not satisfactory in practical applications.This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot.This paper proposes a companion control strategy based on the Linear Quadratic Regulator(LQR)to enhance the coordination and precision of robot companion tasks.This method enables the robot to adapt to sudden changes in the companion target's motion.Besides,the robot could smoothly avoid obstacles during the companion process.Firstly,a human-robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target.Then,an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target's direction and velocity.Finally,various simulations and real-world human-robot companion experiments are conducted to regulate the relative position,orientation,and velocity between the target object and the robot platform.Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation.The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.
基金supported by the teaching funding of TUM School of Engineering and Design.
文摘Earthquake and other disasters nowadays still threat people's lives and property due to their de-structiveness and unpredictability.The past decades have seen the booming development of search and rescue robots due to their potential for increasing rescue capacity as well as reducing personnel safety risk at disaster sites.In this work,we propose a spider-inspired wheeled compliant leg to further improve the environmental adaptability of search mobile robots.Different from the traditional fully-actuated method with independent motor joint control,this leg employs an under-actuated compliant mechanism design with overall semi-tendon-driven control,which enables the passive and active terrain adaptation,system simplification and lightweight of the realized search robot.We have generalized the theoretical model and design methodology for this type of compliant leg,and implement it in a parametric program to improve the design efficiency.In addition,preliminary load capacity and leg-lifting experiments are carried out on a one-leg prototype to evaluate its mechanical performance.A four-legged robot platform is also fabricated for the locomotion tests.The preliminary experimental results have verified the feasibility of the proposed design methodology,and also show possibilities for improvements.In future work,structural optimization and stronger actuation elements should be introduced to further improve the mechanical performance of the fabricated wheeled leg mechanism and robot platform.
