Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

Mann, Moshe P.; Damti, Lior; Zarrouk, David

doi:10.1177/1729881419831586

Cited by 5 publications

(5 citation statements)

References 35 publications

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“…Salah satu pendekatan berbasis sampling pertama yaitu probabilistic roadmap (PRM), yang dikembangkan oleh Kavraki [2]. Jenis lain dari algoritma jenis sampling adalah Ariadne's Clew [3]. Contoh lainnya adalah algoritma Rapidlyexploring Random Tree (RRT) dan RRT*.…”

Section: Pendahuluan a Latar Belakangunclassified

Analisa Penggunaan Nilai Bobot Heuristik yang Berbeda pada Algoritma Weighted A*

Diana¹,

Herdiana²

2021

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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Path planning merupakan urutan keadaan untuk memindahkan objek dari keadaan awal ke keadaan akhir, serta menghindari daerah yang tidak dapat dilalui. Objek disini dapat berupa robot, mobil otonom dan yang lainnya. Algoritma A* merupakan algoritma pencarian jalur yang menggunakan estimasi jarak dengan menggunakan pencarian jalur terdekat untuk mencapai tujuan. Weighted A* adalah algoritma yang digunakan untuk memecahkan masalah pencarian jalur dengan mengubah nilai bobot pada fungsi heuristiknya. Tujuan dari penelitian ini yaitu menganalisa perbandingan algoritma Weighted A* dengan algoritma A*, serta menganalisa pengaruh nilai bobot heuristik pada algoritma Weighted A*. Pengujian yang dilakukan yaitu menggunakan lingkungan maze, narrow, trap, clutter. Hasil yang didapat pada perbandingan algoritma Weighted A* dan A*, dari hasil pengujian diperoleh algoritma Weighted A* menghasilkan waktu pencarian yang lebih baik yaitu sebesar 0,33 detik, sedangkan algoritma A* menghasilkan waktu 1,40 detik. Tetapi algoritma A* dapat menghasilkan jalur yang lebih optimal yaitu 163,69 dibandingkan algoritma Weighted A* yang menghasilkan jalur sebesar 164,52. Dengan strategi yang lebih menekankan pemilihan node yang lebih dekat dengan node goal, maka Weighted A* dapat menghasilkan jalur dengan waktu komputasi yang lebih cepat. Sedangkan algoritma A* karena memilih node dengan nilai heuristik terkecil, maka dapat menghasilkan jalur yang lebih optimal. Weighted A* cocok di implementasikan pada sistem yang membutuhkan waktu pencarian jalur yang lebih singkat tapi tidak harus optimal. Algoritma A* cocok di implementasikan pada sistem yang membutuhkan jalur optimal walaupun waktu pencariannya tidak terlalu cepat

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Section: Pendahuluan a Latar Belakangunclassified

Analisa Penggunaan Nilai Bobot Heuristik yang Berbeda pada Algoritma Weighted A*

Diana¹,

Herdiana²

2021

Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan

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“…They can cooperate and interact with human to complete more complex tasks according to external information. Human-robot interaction is a hot research direction of robotics [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Parameters identification and contact interaction control of redundant robot based on dynamic model

Li,

Bian,

Wang

2024

Phys. Scr.

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Human-redundant robot contact interaction control based on joint current is conducted. This is a sensorless control method. The key issues involved are dynamic parameters identification and interaction control strategy of robot. Firstly, kinematics model and linear dynamic model of robot are established and dynamic parameter matrix to be identified is obtained. Pattern search method is adopted to optimize motion trajectory of robot. The least square method is used to obtain dynamic parameters. The results indicate that the calculated current has a consistent trend with actual measured value, and the current error is small. In order to achieve independent control in null space, motion decoupling model of robot is established, and impedance control is applied to null space. When the force is applied to robot, based on impedance control and joint current changes, robot can move along the force direction, so the motion in null space can be controlled. Aiming at null space contact control during end force control task, comprehensive interaction control based on force sensor and joint current is conducted. The results show that robot can also move in compliance with human hand and achieve compliant interaction of null space when force is applied to the joint space.

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“…Mahl et al (2014) uses the concepts of arc length and segmented constant curvature to describe the kinematics of an ETR and used the structural discretization method and the mechanism equivalence principle to model the kinematics of the ETR. Mann et al (2019) proposes a motion planning method for an underdriven ETR based on the principles of fractals and self-organizing systems. Menon et al (2013) and Ravi et al (2010) propose an ETR trajectory control algorithm based on the Tractrix principle, which can produce a more natural movement.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a cable-driven elephant trunk robot with variable cross-sections

Qin

Wang²,

Li³

et al. 2023

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Purpose In large equipment and highly complex confined workspaces, the maintenance is usually carried out by snake-arm robots with equal cross-sections. However, the equal cross-sectional design results in the snake arm suffering from stress concentration and restricted working space. The purpose of this paper is to design a variable cross-section elephant trunk robot (ETR) that can address these shortcomings through bionic principles. Design/methodology/approach This paper proposes a cable-driven ETR to explore the advantages and inspiration of variable cross-section features for hyper-redundant robot design. For the kinematic characteristics, the influence of the variable cross-section design on the maximum joint angle of the ETR is analysed using the control variables method and the structural parameters are selected. Based on the biological inspiration of the whole elephant trunk following the movement of the trunk tip, a trajectory-tracking algorithm is designed to solve the inverse kinematics of the ETR. Findings Simulation and test results show the unique advantages of the proposed variable cross-section ETR in kinematics and forces, which can reduce stress concentrations and increase the flexibility of movement. Originality/value This paper presents a design method for a variable cross-section ETR for confined working spaces, analyses the kinematic characteristics and develops a targeted trajectory control algorithm.

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Minimally actuated hyper-redundant robots: Motion planning methods based on fractals and self-organizing systems

Cited by 5 publications

References 35 publications

Analisa Penggunaan Nilai Bobot Heuristik yang Berbeda pada Algoritma Weighted A*

Analisa Penggunaan Nilai Bobot Heuristik yang Berbeda pada Algoritma Weighted A*

Parameters identification and contact interaction control of redundant robot based on dynamic model

Design and development of a cable-driven elephant trunk robot with variable cross-sections

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