Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
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29 Sep 2014TL;DR: A novel six-legged parallel robot, the kinematic model of which is simpler than that of the simplest six-axis serial robot, is presented, the 6-DOF extension of the Cartesian parallel robot.
Abstract: This paper presents a novel six-legged parallel robot, the kinematic model of which is simpler than that of the simplest six-axis serial robot. The new robot is the 6-DOF extension of the Cartesian parallel robot. It consists of three pairs of base-mounted prismatic actuators, the directions in each pair parallel to one of the axes of a Cartesian coordinate system. In each of the six legs, there are also two passive revolute joints, the axes of which are parallel to the direction of the prismatic joint. Finally, each leg is attached to the mobile platform via a spherical joint. The direct kinematics of the novel parallel robot can be solved easily by partitioning the orientation and the position of the mobile platform. There are eight distinct solutions, which can be found directly by solving a linear system and alternating the signs of three radicals. This parallel robot has a large workspace and is suitable for machining or rapid prototyping, as detailed in this paper.
20 citations
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09 Jul 2013TL;DR: This work presents the recent work on the soft- and hardware design of the bimanual mobile manipulation platform HoLLiE that is equipped with an actuated upper body and demonstrates the usability of the concept by quantifying the workspace and its stability.
Abstract: We present our recent work on the soft- and hardware design of the bimanual mobile manipulation platform HoLLiE that is equipped with an actuated upper body. The goal was to develop a robust but extensible robot with a non-intimidating abstract anthropomatic appearance based on a combination of industrial robotic components and intelligent mechatronics. With a range of different sensors and a highly articulated body HoLLiE can handle everyday objects, interact with humans in multiple ways and therefore be employed in various service robotic scenarios. We demonstrate the usability of our concept by quantifying the workspace and its stability and also briefly describe the software components.
20 citations
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29 Sep 2014TL;DR: A locally reactive algorithm to construct arbitrary shapes with amorphous materials is presented to provide methods for robust robotic construction in unstructured, cluttered terrain, where deliberative approaches with pre-fabricated construction elements are difficult to apply.
Abstract: We present a locally reactive algorithm to construct arbitrary shapes with amorphous materials. The goal is to provide methods for robust robotic construction in unstructured, cluttered terrain, where deliberative approaches with pre-fabricated construction elements are difficult to apply. Amorphous materials provide a simple way to interface with existing obstacles, as well as irregularly shaped previous depositions. The local reactive nature of these algorithms allows robots to recover from disturbances, operate in dynamic environments, and provides a way to work with scalable robot teams.
20 citations
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01 Jul 200520 citations
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TL;DR: Simulation results on an articulated robot driven by permanent magnet DC motors, and experimental implementation show that the proposed model-free controller has a satisfactory performance as compared to an adaptive uncertainty estimation-based controller.
20 citations