Adaptive trajectory control of an under-actuated snake robot

G Qin, H Wu, Y Cheng, H Pan, W Zhao, S Shi… - Applied Mathematical …, 2022 - Elsevier
This article proposes an adaptive trajectory control method for under-actuated snake robots
by simplifying the control and actuation systems of hyper-redundant robots. The under …

Computer-assisted assembly process planning for the installation of flexible cables modeled according to a viscoelastic Cosserat rod model

H Du, Q Jiang, W Xiong - Proceedings of the Institution of …, 2023 - journals.sagepub.com
Available computer-aided assembly process planning methods fail to provide the necessary
level of accuracy required by modern complex planning processes owing to the neglect of …

Resolution of redundancy in robots and in a human arm

A Ghosal - Mechanism and Machine Theory, 2018 - Elsevier
The author obtained his Ph. D. in 1986 under Professor Bernard Roth. In a publication from
the research, it was shown that the redundant joints in a serial robot could be used to make …

Computer-aided optimal design for flexible cable in aerospace products based on dynamic analogy modeling

H Du, Q Jiang, W Xiong - Scientific Reports, 2022 - nature.com
Due to large, complex deformations, the accurate design of cables has become a major
problem in the manufacturing of aerospace products. The current design method often leads …

An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

X Zhang, J Liu, Y Li - Robotica, 2022 - cambridge.org
This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant
manipulators, and its basic idea is to use a static and a dynamic curve to constrain the …

Physical modeling and geometric shape simulation for one-dimensional flexible objects with cylindrical surface constraints

Y Mei, H Du, Q Jiang, W Xiong - Scientific Reports, 2023 - nature.com
This study develops forces equilibrium differential equations for the geometric modeling of
1D flexible objects with surface constraints. These second-order equations are an extension …

Emerging behaviours from cyclical, incremental and uniform movements of hyper-redundant and growing robots

A Martín-Barrio, J del Cerro, A Barrientos… - Mechanism and Machine …, 2021 - Elsevier
The purpose of this work consists of finding a simple and general method to control hyper-
redundant manipulators. By definition, hyper-redundant robots have a large number of …