Zobrazeno 1 - 10
of 64
pro vyhledávání: '"D. Caleb Rucker"'
Autor:
Laura H. Blumenschein, Elliot W. Hawkes, D. Caleb Rucker, Margaret Koehler, Nathan S. Usevitch, Allison M. Okamura
Publikováno v:
IEEE Transactions on Robotics. 38:1820-1840
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated and enabl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7991ff3d1bdb0ffccd1631e781a16c49
https://doi.org/10.1109/tro.2021.3115230
https://doi.org/10.1109/tro.2021.3115230
Publikováno v:
The International Journal of Robotics Research. 38:723-746
The dynamic equations of many continuum and soft robot designs can be succinctly formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod theory, which includes bending, torsion, shear, and extension. In this work
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::536b298c5cc6c244e19e3bb5919c3e62
https://doi.org/10.1177/0278364919842269
https://doi.org/10.1177/0278364919842269
Autor:
D. Caleb Rucker, Jake A. Childs
Publikováno v:
Frontiers in Robotics and AI
Frontiers in Robotics and AI, Vol 8 (2021)
Frontiers in Robotics and AI, Vol 8 (2021)
Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically b
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::32c4a13ca7870d0c09d56da0a55bc64b
https://doi.org/10.3389/frobt.2021.629871
https://doi.org/10.3389/frobt.2021.629871
Publikováno v:
IEEE Transactions on Robotics. 34:29-47
Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of continuum robots with the precision and strength of rigid-link parallel robots. In this paper, we provide a generalized Cosserat-rod-based kinetostatic model fram
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ca9598f2daac21a5473fa34980e608ac
https://doi.org/10.1109/tro.2017.2753829
https://doi.org/10.1109/tro.2017.2753829
Autor:
John Till, D. Caleb Rucker
Publikováno v:
IEEE Transactions on Robotics. 33:718-733
Classic theories in nonlinear elasticity have increasingly been used to obtain accurate and efficient models for continuum robots and other elastic structures. Numerically computed solutions of these models typically satisfy the first-order condition
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::dfe7d8684cefc20b4ca912169b695eb3
https://doi.org/10.1109/tro.2017.2664879
https://doi.org/10.1109/tro.2017.2664879
Autor:
Vincent A. Aloi, D. Caleb Rucker
Publikováno v:
ICRA
Mechanics-based models of thin elastic structures are prevalent in robotics research, both in soft/continuum robot modeling, and in robotic manipulation of strings, sutures, needles, and endoscopes. In all these applications, distributed loads along
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::54e85628b6a23080f0757f305c17f9e4
https://doi.org/10.1109/icra.2019.8794301
https://doi.org/10.1109/icra.2019.8794301
Autor:
Ray A. Lathrop, S. Duke Herrell, Robert J. Webster, Patrick L. Anderson, Katherine E. Riojas, D. Caleb Rucker
Publikováno v:
IEEE Trans Biomed Eng
Objective: This paper describes a surgical device that provides both wrist and elbow dexterity without motors or electronics. The device provides dexterity advantages in minimally invasive surgery typically associated with robotic systems, but does s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f79f8f0d8c22e811344dd4cdd5f3315e
https://pubmed.ncbi.nlm.nih.gov/30835205
https://pubmed.ncbi.nlm.nih.gov/30835205
Publikováno v:
IEEE Robotics and Automation Letters. 1:828-835
In this letter, we present the design, kinematic analysis, model validation, and teleoperation of a miniature eight-degree-of-freedom (8-DOF) parallel continuum manipulator with a cable-driven grasper. Our motivation is to provide increased dexterity
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::675d859c6d7615843812922d713d6e49
https://doi.org/10.1109/lra.2016.2525720
https://doi.org/10.1109/lra.2016.2525720
Publikováno v:
IEEE Transactions on Robotics. 31:1261-1280
In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by biological trunks, tentacles, and snakes, continuum robot designs can traverse confined space
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::83e8009909be66a7ab907503cbd5421d
https://doi.org/10.1109/tro.2015.2489500
https://doi.org/10.1109/tro.2015.2489500
Autor:
John Till, D. Caleb Rucker
Publikováno v:
IROS
The large dynamic deflections of continuum robots, soft robots, and slender elastic objects can be accurately modeled with classical rod theories in nonlinear elasticity. In this paper, we propose a real-time computational approach for solving the pa
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::22e6060eb704f10d59edc2b0cb705cbb
https://doi.org/10.1109/iros.2017.8206139
https://doi.org/10.1109/iros.2017.8206139