Zobrazeno 1 - 10
of 2 683
pro vyhledávání: '"Burgner A"'
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the generalized Cl
Externí odkaz:
http://arxiv.org/abs/2409.16501
For almost all tendon-driven continuum robots, a segment is actuated by three or four tendons constrained by its mechanical design. For both cases, methods to account for the constraints are known. However, for an arbitrary number of tendons, a disen
Externí odkaz:
http://arxiv.org/abs/2409.13826
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages including
Externí odkaz:
http://arxiv.org/abs/2409.13165
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arcl
Externí odkaz:
http://arxiv.org/abs/2409.12302
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to leverage the
Externí odkaz:
http://arxiv.org/abs/2409.09970
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex actuation a
Externí odkaz:
http://arxiv.org/abs/2402.14175
Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may result in a
Externí odkaz:
http://arxiv.org/abs/2402.12587
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body. Consequentially, s
Externí odkaz:
http://arxiv.org/abs/2401.13540
Autor:
Christos Symeonides, Kristina Vacy, Sarah Thomson, Sam Tanner, Hui Kheng Chua, Shilpi Dixit, Toby Mansell, Martin O’Hely, Boris Novakovic, Julie B. Herbstman, Shuang Wang, Jia Guo, Jessalynn Chia, Nhi Thao Tran, Sang Eun Hwang, Kara Britt, Feng Chen, Tae Hwan Kim, Christopher A. Reid, Anthony El-Bitar, Gabriel B. Bernasochi, Lea M. Durham Delbridge, Vincent R. Harley, Yann W. Yap, Deborah Dewey, Chloe J. Love, David Burgner, Mimi L. K. Tang, Peter D. Sly, Richard Saffery, Jochen F. Mueller, Nicole Rinehart, Bruce Tonge, Peter Vuillermin, the BIS Investigator Group, Anne-Louise Ponsonby, Wah Chin Boon
Publikováno v:
Nature Communications, Vol 15, Iss 1, Pp 1-22 (2024)
Abstract Male sex, early life chemical exposure and the brain aromatase enzyme have been implicated in autism spectrum disorder (ASD). In the Barwon Infant Study birth cohort (n = 1074), higher prenatal maternal bisphenol A (BPA) levels are associate
Externí odkaz:
https://doaj.org/article/61103e53974f40858070213fe5e84473
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is finding robot joint configurations that satisfy desired position or po
Externí odkaz:
http://arxiv.org/abs/2306.13617