Equilibrium Manipulation Planning for a Soft Elastic Rod Considering an External Distributed Force and Intrinsic Curvature
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3199823
Abstract: Previous work has shown that the set of equilibrium shapes of a rod is a smooth 6-dimensional manifold. We develop the Kirchhoff rod model in a differential equation form using Darboux vector that easily adds… read more here.
Keywords: intrinsic curvature; manipulation planning; distributed force; force intrinsic ... See more keywords
Maintenance Automation: Methods for Robotics Manipulation Planning and Execution
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3175631
Abstract: Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under environmental uncertainties (e.g. deviations… read more here.
Keywords: robotics; maintenance; maintenance automation; execution ... See more keywords
Prehensile Manipulation Planning: Modeling, Algorithms and Implementation
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2021.3130433
Abstract: This paper presents a software platform taylored for prehensile manipulation planning named Humanoid Path Planner. The platform implements an original way of modelling manipulation planning through a constraint graph that represents the numerical constraints that… read more here.
Keywords: modeling algorithms; manipulation; manipulation planning; prehensile manipulation ... See more keywords