ReBot: A Novel Under-Actuated Resilient Robot

被引：0

作者：

Liu, Junkai ^{[1
]}

Liu, C. L. ^{[1
]}

Zhang, Bing ^{[2
]}

Yuan, C. W. ^{[3
]}

Qian, Z. Q. ^{[1
]}

Zhang, W. J. ^{[1
]}

机构：

[1] East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

[2] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China

[3] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK, Canada

来源：

PROCEEDINGS OF THE 2018 25TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2018年

关键词：

Resilient robots; Under-actuated robots; Design; Control; DESIGN; RECONFIGURATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A resilient robot can recover its original function after a partial damage. In this paper, a novel under-actuated resilient robot named ReBot is presented. ReBot is an under-actuated robotic system and it consists of one type of module, which realizes the under-actuated characteristic with the whole robot. In ReBot, the module is designed as a cube structure with two rotational DOFs. The module is designed such that one can connect to another with the function of self-locking and switching between an active and a passive connection. The evolution of the configuration of an entire robotic system is performed autonomously. A preliminary experiment is carried out to show that the design requirement can be achieved.

引用

页码：237 / 242

页数：6

共 50 条

[31] Quasi-linearization Approach for the Under-actuated Robots
Albalasie, Ahmad
Glodde, Arne
Seliger, Guenther
Abu Hanieh, Ahmed
12TH GLOBAL CONFERENCE ON SUSTAINABLE MANUFACTURING - EMERGING POTENTIALS, 2015, 26 : 223 - 228
[32] Thin plate manipulation by an under-actuated robotic soft gripper utilizing the environment
Nishimura, Toshihiro
Kaori, Mizushima
Suzuki, Yosuke
Tsuji, Tokuo
Watanabe, Tetsuyou
2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, : 1236 - 1243
[33] Solving the Boundary Value Problem of an Under-Actuated Quadrotor with Subspace Stabilization Approach
Dong, Wei
Gu, Guo-Ying
Zhu, Xiangyang
Ding, Han
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2015, 80 (02) : 299 - 311
[34] Finite-time stabilization of under-actuated ship with actuator failure and saturation
Zhang, Binghua
Yang, Renming
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 433 - 438
[35] Output-feedback stabilisation control for a class of under-actuated mechanical systems
Xu, Liang
Hu, Qinglei
IET CONTROL THEORY AND APPLICATIONS, 2013, 7 (07) : 985 - 996
[36] An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes
Firouzeh, Amir
Paik, Jamie
SMART MATERIALS AND STRUCTURES, 2017, 26 (05)
[37] A Procedure for Solving Under-actuated Optimal Attenuation of Vibrations by means of Symbolic Operators
Szyszkowski, W.
Dhotre, N.
JOURNAL OF VIBRATION AND CONTROL, 2009, 15 (05) : 739 - 771
[38] Distributed adaptive control for multiple under-actuated Lagrangian systems under fixed or switching topology
Chen, Ti
Shan, Jinjun
Ramkumar, Ganesh
NONLINEAR DYNAMICS, 2018, 93 (03) : 1705 - 1718
[39] RESEARCH ON POSITION KEEPING AND PATH FOLLOWING STRATEGY FOR THE UNDER-ACTUATED WAVED GLIDER
Wang, Peng
Tian, Xinliang
Zhang, Xiantao
Wang, Daoyong
Guo, Xiaoxian
PROCEEDINGS OF THE ASME 39TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, OMAE2020, VOL 6A, 2020,
[40] Boundary control for an industrial under-actuated tubular chemical reactor
Del Vecchio, D
Petit, N
JOURNAL OF PROCESS CONTROL, 2005, 15 (07) : 771 - 784

← 1 2 3 4 5 →