Outputs (27)

Modelling of modular soft robots: From a single to multiple building blocks (2024)
Journal Article
Atia, M. G., Mohammad, A., Gameros, A., Axinte, D., & Wright, I. (2024). Modelling of modular soft robots: From a single to multiple building blocks. Robotics and Autonomous Systems, 174, Article 104622. https://doi.org/10.1016/j.robot.2024.104622

Despite the advances in soft robots, their modelling is still one of the research challenges due to the complexity and non-linearity of their soft nature. A novel design of reconfigurable soft robots was recently introduced to bring more maturity to... Read More about Modelling of modular soft robots: From a single to multiple building blocks.

Efficient and Scalable Inverse Kinematics for Continuum Robots (2023)
Journal Article
Wild, S., Zeng, T., Mohammad, A., Billingham, J., Axinte, D., & Dong, X. (2024). Efficient and Scalable Inverse Kinematics for Continuum Robots. IEEE Robotics and Automation Letters, 9(1), 375 - 381. https://doi.org/10.1109/lra.2023.3331291

With their flexible nature, continuum robots offer hyper-redundancy regarding their workspace; their backbone can take many shapes upon a single tip position and orientation. Deciphering which backbone shape to use under certain conditions is crucial... Read More about Efficient and Scalable Inverse Kinematics for Continuum Robots.

A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control (2023)
Journal Article
Zeng, T., Mohammad, A., Madrigal, A. G., Axinte, D., & Keedwell, M. (2024). A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control. IEEE Transactions on Industrial Electronics, 71(7), 7360-7369. https://doi.org/10.1109/TIE.2023.3299046

Human skill-based robotic control to perform critical manufacturing operations (e.g., repair and inspection for high-value assets) can reduce scrap rates and increase overall profitability in the industrial community. In this study, a human–robotic c... Read More about A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control.

Continuum Robots: An Overview (2023)
Journal Article
Russo, M., Sadati, S. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., …Axinte, D. A. (2023). Continuum Robots: An Overview. Advanced Intelligent Systems, 5(5), Article 2200367. https://doi.org/10.1002/aisy.202200367

In this paper, we discuss recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, ena... Read More about Continuum Robots: An Overview.

Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System (2023)
Journal Article
Fang, Y., Dong, X., Mohammad, A., & Axinte, D. (2023). Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System. IEEE/ASME Transactions on Mechatronics, 28(3), 1522-1533. https://doi.org/10.1109/TMECH.2022.3229188

After decades of development, the technology of continuum robots continues to mature gradually and is used for various applications, e.g., inspection and repair in high-value-added industries such as aerospace & nuclear. However, such robots are inva... Read More about Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System.

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing (2022)
Journal Article
Sriratanasak, N., Axinte, D., Dong, X., Mohammad, A., Russo, M., & Raimondi, L. (2022). Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing. Advanced Intelligent Systems, 4(12), Article 2200223. https://doi.org/10.1002/aisy.202200223

The application of Soft Crawling Robots (SCRs) to real-world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult-to-reach environments by any obstacles. To overcome these limitat... Read More about Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing.

Reconfigurable Soft Robots by Building Blocks (2022)
Journal Article
Atia, M. G., Mohammad, A., Gameros, A., Axinte, D., & Wright, I. (2022). Reconfigurable Soft Robots by Building Blocks. Advanced Science, Article 2203217. https://doi.org/10.1002/advs.202203217

Soft robots are of increasing interest as they can cope with challenges that are poorly addressed by conventional rigid-body robots (e.g., limited flexibility). However, due to their flexible nature, the soft robots can be particularly prone to explo... Read More about Reconfigurable Soft Robots by Building Blocks.

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., & Kell, J. (2021). An efficient follow-the-leader strategy for continuum robot navigation and coiling. IEEE Robotics and Automation Letters, 6(4), 7493 - 7500. https://doi.org/10.1109/LRA.2021.3097265

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to... Read More about An efficient follow-the-leader strategy for continuum robot navigation and coiling.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Presentation / Conference Contribution
Fang, Y., Bishop, C., Ba, W., Díez, J. B., Mohammad, A., & Dong, X. (2020). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. In Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings (15-24). https://doi.org/10.1007/978-3-030-63486-5_2

© 2020, Springer Nature Switzerland AG. Continuum robots have been utilized for several light-duty applications, such as minimally invasive surgery in the medical field and inspection in the industry. However, the existing design solutions do not off... Read More about A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems.

Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications (2018)
Journal Article
Mohammad, A. E. K., Hong, J., Wang, D., & Guan, Y. (2019). Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications. Robotics and Computer-Integrated Manufacturing, 55(Part A), 65-75. https://doi.org/10.1016/j.rcim.2018.07.005

In this paper, we present a novel design of a robotic electrochemical mechanical polishing (ECMP) process. Firstly, the process is presented to replace the conventional ECMP process by a robotic-based one. The advantage of using industrial robots lie... Read More about Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications.