Bracing Strategy for Robot Operation

Book, Wayne J.; Shi, Le; Sangveraphunsiri, Viboon

doi:10.1007/978-1-4615-9882-4_20

Cited by 37 publications

(11 citation statements)

References 1 publication

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“…Grappling devices for climbing plant-inspired robotic devices have already been implemented in continuum robotic artifacts that can grapple onto supports (Wooten and Walker, 2018 ) and help anchor the device and support it for its continued searching and functioning. The notion of bracing in robotics (Book et al, 1984 ; Walker, 2015 ) has probably been played out many times in the diversification of climbing plants at variable scales of organization. Mechanisms that promote “early adherence” and “steadying” of adjacent structures before more solid attachment are probably common in climbing plants and are probably of great importance especially in perturbed environments.…”

Section: Discussionmentioning

confidence: 99%

Mechanical Innovations of a Climbing Cactus: Functional Insights for a New Generation of Growing Robots

Soffiatti

Rowe

2020

Front. Robot. AI

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Climbing plants are being increasingly viewed as models for bioinspired growing robots capable of spanning voids and attaching to diverse substrates. We explore the functional traits of the climbing cactus Selenicereus setaceus (Cactaceae) from the Atlantic forest of Brazil and discuss the potential of these traits for robotics applications. The plant is capable of growing through highly unstructured habitats and attaching to variable substrates including soil, leaf litter, tree surfaces, rocks, and fine branches of tree canopies in wind-blown conditions. Stems develop highly variable cross-sectional geometries at different stages of growth. They include cylindrical basal stems, triangular climbing stems and apical star-shaped stems searching for supports. Searcher stems develop relatively rigid properties for a given cross-sectional area and are capable of spanning voids of up to 1 m. Optimization of rigidity in searcher stems provide some potential design ideas for additive engineering technologies where climbing robotic artifacts must limit materials and mass for curbing bending moments and buckling while climbing and searching. A two-step attachment mechanism involves deployment of recurved, multi-angled spines that grapple on to wide ranging surfaces holding the stem in place for more solid attachment via root growth from the stem. The cactus is an instructive example of how light mass searchers with a winged profile and two step attachment strategies can facilitate traversing voids and making reliable attachment to a wide range of supports and surfaces.

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Section: Discussionmentioning

confidence: 99%

Mechanical Innovations of a Climbing Cactus: Functional Insights for a New Generation of Growing Robots

Soffiatti

Rowe

2020

Front. Robot. AI

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“…Without bracing, the catheter sheath will deflect away from the tissue of interest when forces are applied. Bracing will also help the catheter more accurately manipulate the tissue because the system will be fixed relative to cardiac tissue, thus reducing the overall translation distance required for motion compensation [29]-[31]. …”

Section: Discussionmentioning

confidence: 99%

Position Control of Motion Compensation Cardiac Catheters

Kesner¹,

2011

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Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control system compensation methods, including inverse and model-based backlash compensation, to improve the system performance. Finally, in vivo results are presented that demonstrate that the catheter can track the cardiac tissue motion with less than 1 mm RMS error. The ultimate goal of this research is to create a fast and dexterous robotic catheter system that can perform surgery on the delicate structures inside of the beating heart.

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“…A peculiarity of whole-limb systems is that inner links generally have fewer degrees-of-freedom than necessary to achieve arbitrary configurations in their operational space, i.e., are kinematically defective. Similar considerations apply to other manipulation structures, such as bracing systems (see e.g., [8]) and parallel manipulators, pioneered by Stewart [35].…”

Section: Introductionmentioning

confidence: 91%

“…Henceforth, then, we will deal with the linearized dynamic model (8) where the state vector inputs and disturbances are defined as the departures from a reference equilibrium configuration at which contact forces are as (9) Under the assumptions reported in Appendix A, the dynamics matrix joint torque input matrix and external wrench disturbance matrix have the form (see Appendix A) (10) where (11) and (12) III. STABILITY…”

Section: Definition 5: a Grasp Is Said Hyperstatic Ifmentioning

confidence: 99%

Dynamic analysis of mobility and graspability of general manipulation systems

Prattichizzo

Bicchi

1998

IEEE Trans. Robot. Automat.

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We present a geometric approach to the dynamic analysis of manipulation systems of a rather general class, including some important types of manipulators as, e.g., cooperating, super-articulated, and whole-arm manipulators. The focus is in particular on simple industry-oriented devices, for which a minimalistic design approach requires a clear understanding of mobility and graspability properties in the presence of kinematic defectivity. The paper discusses the dynamics of these systems, and considers how their structural properties (in the classical system-theoretic sense, i.e., stability, controllability, observability, etc.) are related to frequently used concepts in robotics such as "redundancy," "graspability," "mobility," and "indeterminacy." Less common or novel concepts, such as those of "defectivity," "hyperstaticity," and "dynamic graspability," are elicited and/or enlightened by this study. Some important practical consequences of the limited control possibilities of defective systems are thus put into evidence. Finally, a standard form of the dynamics of general manipulation systems is provided as a compact and readable synopsis of the dynamic structure. The form is a valuable tool for synthesizing dynamic controllers for such systems, especially suited to geometric control design methods.

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Bracing Strategy for Robot Operation

Cited by 37 publications

References 1 publication

Mechanical Innovations of a Climbing Cactus: Functional Insights for a New Generation of Growing Robots

Mechanical Innovations of a Climbing Cactus: Functional Insights for a New Generation of Growing Robots

Position Control of Motion Compensation Cardiac Catheters

Dynamic analysis of mobility and graspability of general manipulation systems

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