All Outputs (30)

SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement (2024)
Journal Article

SLAM Benchmark plays a pivotal role in the field by providing a common ground for performance evaluation. In this paper, a novel methodology of simultaneous localization and mapping benchmark and map accuracy improvement (SLAMB&MAI) is introduced. It... Read More about SLAMB&MAI: a comprehensive methodology for SLAM benchmark and map accuracy improvement.

An analytical differential kinematics-based method for controlling tendon-driven continuum robots (2023)
Journal Article

Generic and high-performance feedback control is still challenging for tendon-driven continuum robots. Conventional model-based controllers, based on the piecewise constant curvature (PCC) assumption, explicitly require the arc parameters (bending an... Read More about An analytical differential kinematics-based method for controlling tendon-driven continuum robots.

Efficient and Scalable Inverse Kinematics for Continuum Robots (2023)
Journal Article

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.

Continuum Robots: An Overview (2023)
Journal Article

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

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

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.

Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations (2022)
Journal Article

Current research on walking robots strives to achieve a higher efficiency, a better load capacity, and an increased adaptability. Parallel kinematic manipulators (PKMs) are characterized by high payload and accuracy, but conventional PKMs with fixed... Read More about Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations.

A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches (2022)
Journal Article

The many degrees of freedom of continuum robots (CRs) enable unique applications in the search and rescue, medical and aerospace industries. However, the many motors required result in unwieldy external actuation packs and additional weight. Underact... Read More about A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches.

Modelling and experimental study of surface treatment in abrasive waterjet peening of Nickel-based superalloy: Inverse problem (2022)
Journal Article

Abrasive waterjet peening (AWJP) is a promising method of surface treatment for modifying mechanical properties of components by introducing compressive residual stress (CRS) to a workpiece surface. Many efforts have been paid so far to modelling and... Read More about Modelling and experimental study of surface treatment in abrasive waterjet peening of Nickel-based superalloy: Inverse problem.

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments (2022)
Journal Article

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly... Read More about Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments.

Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator (2021)
Journal Article

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment,... Read More about Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator.

Analytical model for predicting residual stresses in abrasive waterjet peening (2021)
Journal Article

Abrasive waterjet peening (AWJP) is a new mechanical surface treatment where particles are delivered by a waterjet to induce plastic deformation and achieve surface strengthening effects on a workpiece. Although fatigue strength can be improved by in... Read More about Analytical model for predicting residual stresses in abrasive waterjet peening.

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article

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.

Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots (2021)
Journal Article

IEEE Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of hyper-redundant and compliant features. They provide universal and efficient solutions to access to constrained environments, e.g., aero-engines and industr... Read More about Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots.

Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020: Proceedings (2020)
Book

Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility (2020)
Journal Article

© 2020 In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. with less than 6 degrees-of-freedom (“DoF”), with a prescribed set of tasks in a constrained environment. Sin... Read More about Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Conference Proceeding

© 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.

A calibration procedure for reconfigurable Gough-Stewart manipulators (2020)
Journal Article

© 2020 This paper introduces a calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator. By using the proposed method, the geometry of a general Gough-Stewart platform can be ev... Read More about A calibration procedure for reconfigurable Gough-Stewart manipulators.

Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator (2020)
Journal Article

© 1996-2012 IEEE. Parallel kinematic manipulators (PKMs) are increasingly used in a wide range of industrial applications due to the characteristics of high accuracy and compact structure. However, most of the existing PKMs are structured with heavy... Read More about Modeling and Experimental Validation of a Compliant Underactuated Parallel Kinematic Manipulator.

Parametric vibration analysis and validation for a novel portable hexapod machine tool attached to surfaces with unequal stiffness (2019)
Journal Article

© 2019 The Free-Leg Hexapod (Free-Hex) machine tool is an advancement from the conventional Stewart platform, which has the fixed base platform removed to enable the limbs to be attached to a wider range of surfaces (e.g. non-flat and curved). Howeve... Read More about Parametric vibration analysis and validation for a novel portable hexapod machine tool attached to surfaces with unequal stiffness.