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Model-free control for continuum robots based on an adaptive Kalman filter (2017)
Journal Article
Li, M., Kang, R., Branson, D. T., & Dai, J. S. (2018). Model-free control for continuum robots based on an adaptive Kalman filter. IEEE/ASME Transactions on Mechatronics, 23(1), https://doi.org/10.1109/TMECH.2017.2775663

Continuum robots with structural compliance have promising potential to operate in unstructured environments. However, this structural compliance brings challenges to the controller design due to the existence of considerable uncertainties in the rob... Read More about Model-free control for continuum robots based on an adaptive Kalman filter.

Workspace analysis of tendon-driven continuum robots based on mechanical interference identification (2017)
Journal Article
Cao, K., Kang, R., Branson, D., Geng, S., Song, Z., & Dai, J. S. (2017). Workspace analysis of tendon-driven continuum robots based on mechanical interference identification. Journal of Mechanical Design, 139(6), doi:10.1115/1.4036395

Continuum robots have excited increasing attention and efforts from the robotic community due to their high dexterity and safety. This paper proposes a design for a type of multimodule continuum robot equipped with an elastic backbone structure and t... Read More about Workspace analysis of tendon-driven continuum robots based on mechanical interference identification.

Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming (2017)
Journal Article
Maiolino, P., Woolley, R., Branson, D. T., Benardos, P., Popov, A. A., & Ratchev, S. (in press). Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming. Robotics and Computer-Integrated Manufacturing, 48, https://doi.org/10.1016/j.rcim.2017.04.004

In aerospace manufacture the accurate and robust application of sealant is an integral and challenging part of the manufacturing process that is still performed by human operator. Automation of this process is difficult and not cost effective due to... Read More about Flexible robot sealant dispensing cell using RGB-D sensor and off-line programming.