All Outputs (5)

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. (2023). A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control. IEEE Transactions on Industrial Electronics, 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.

Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining (2023)
Journal Article
Picavea, J., Mohammad, A., Gameros, A., Yang, J., & Axinte, D. (2023). Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining. CIRP Annals - Manufacturing Technology, 72(1), 357-360. https://doi.org/10.1016/j.cirp.2023.04.085

To reduce vibration during machining and to avoid re-manufacture or scrap parts, two main methods have been proposed, vibration damping and absorption. In this paper, a novel synergistic integration between both techniques using pillar elements known... Read More about Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining.

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.