Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática

Martín-Barrio, Andrés; Terrile, Silvia; Barrientos, Antonio; Cerro, Jaime del

doi:10.4995/riai.2018.9207

Cited by 12 publications

(9 citation statements)

References 129 publications

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“…According to [31,32], this robot is hyper-redundant, making the term degrees of freedom (DOF) not applicable in the classical sense. Nevertheless, in this specific case, the actuation parameters have a direct effect on measurable outputs like tip position and orientation.…”

Section: Plant Modelmentioning

confidence: 99%

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

2021

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Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller.

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Section: Plant Modelmentioning

confidence: 99%

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

2021

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“…Hyper-redundant robots can contribute not only to improve the performance in some of the reported scenarios but also to others yet unexplored. Due to their large number of degrees of freedom, these robots can operate in constrained environments, reaching unstructured scenarios, navigating in places with a high density of obstacles and operating in narrow spaces like pipes [3]. Additionally, three types of hyper-redundant robots that can be used for inspection purposes: manipulators, mobile manipulators and those with locomotion capabilities.…”

Section: State Of the Artmentioning

confidence: 99%

“…These mechanisms were called continuous robots. Recently, last research efforts have taken a step further creating robots made by soft materials, capable of adapting to their environment and being inherently safe to interact with their surroundings [3].…”

Section: Introductionmentioning

confidence: 99%

Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Martín-Barrio

Roldán‐Gómez

Rodríguez

et al. 2020

Sensors

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Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

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“…The design of robotic arms has been part of the robotics evolution by incorporating not only new materials and mechanical structures, but also novel application-specific models. An example of this evolution is hyper-redundant robots; these have a mechanical structure capable of deforming continuously according to their degrees of freedom (DoF) to adapt to disorderly (unstructured) environments [ 10 , 11 ]; these robots resemble living organisms or their parts, such as snakes or elephant trunks; they are denoted as continuous manipulators and are widely applied in the medical area (for minimal invasive surgeries), for in-orbit servicing, grasping, and locomotion in unstructured environments [ 5 , 12 , 13 ]. However, working with this type of robot implies solving complex and computationally costly inverse kinematics and real-time collision-free path planning problems [ 10 , 11 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms

Velez-Lopez

Vázquez-Leal

Hernandez-Martinez

et al. 2022

Sensors

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Achieving the smart motion of any autonomous or semi-autonomous robot requires an efficient algorithm to determine a feasible collision-free path. In this paper, a novel collision-free path homotopy-based path-planning algorithm applied to planar robotic arms is presented. The algorithm utilizes homotopy continuation methods (HCMs) to solve the non-linear algebraic equations system (NAES) that models the robot’s workspace. The method was validated with three case studies with robotic arms in different configurations. For the first case, a robot arm with three links must enter a narrow corridor with two obstacles. For the second case, a six-link robot arm with a gripper is required to take an object inside a narrow corridor with two obstacles. For the third case, a twenty-link arm must take an object inside a maze-like environment. These case studies validated, by simulation, the versatility and capacity of the proposed path-planning algorithm. The results show that the CPU time is dozens of milliseconds with a memory consumption less than 4.5 kB for the first two cases. For the third case, the CPU time is around 2.7 s and the memory consumption around 18 kB. Finally, the method’s performance was further validated using the industrial robot arm CRS CataLyst-5 by Thermo Electron.

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Robots Hiper-Redundantes: Clasificación, Estado del Arte y Problemática

Cited by 12 publications

References 129 publications

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms

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