Adaptive trajectory control of an under-actuated snake robot
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 …
by simplifying the control and actuation systems of hyper-redundant robots. The under …
Trajectory planning and obstacle avoidance for hyper-redundant serial robots
Hyper-redundant snakelike serial robots are of great interest due to their application in
search and rescue during disaster relief in highly cluttered environments and recently in the …
search and rescue during disaster relief in highly cluttered environments and recently in the …
Profile and contact force estimation of cable-driven continuum robots in presence of obstacles
Accurate prediction of shape and contact forces significantly improves the performance of a
continuum robot during its operation in obstacle-laden environments. This paper presents …
continuum robot during its operation in obstacle-laden environments. This paper presents …
Quasi-stationary state transportation of a hose with quadrotors
A hose is a flexible almost unidimensional object. Transportation of a hose by means of a
team of collaborating robots poses a new multi-robot control paradigm, because the hose …
team of collaborating robots poses a new multi-robot control paradigm, because the hose …
Electrothermal transport in biological systems: an analytical approach for electrokinetically modulated peristaltic flow
D Tripathi, A Sharma… - Journal of …, 2017 - asmedigitalcollection.asme.org
A mathematical model is presented to study the combined viscous electro-osmotic (EO) flow
and heat transfer in a finite length microchannel with peristaltic wavy walls in the presence of …
and heat transfer in a finite length microchannel with peristaltic wavy walls in the presence of …
Online fuzzy modulated adaptive PD control for cooperative aerial transportation of deformable linear objects
The aim of this work is to design robust control algorithms of aerial robots, ie quadrotors, for
team transportation of a deformable linear object (DLO). The DLO-robot attachment makes …
team transportation of a deformable linear object (DLO). The DLO-robot attachment makes …
An efficient approach for inverse kinematics and redundancy resolution of spatial redundant robots for cluttered environment
VS Chembuly, HK Voruganti - SN Applied Sciences, 2020 - Springer
This paper presents an optimization-based approach for solving the inverse kinematics
problem of spatial redundant manipulators in cluttered workspaces. To provide better …
problem of spatial redundant manipulators in cluttered workspaces. To provide better …
Planning framework for robotic pizza dough stretching with a rolling pin
Stretching a pizza dough with a rolling pin is a nonprehensile manipulation. Since the object
is deformable, force closure cannot be established, and the manipulation is carried out in a …
is deformable, force closure cannot be established, and the manipulation is carried out in a …
Particle swarm optimization quadrotor control for cooperative aerial transportation of deformable linear objects
We present a cooperative aerial robot system for the transportation of hoses. The hose–
robot attachment makes the whole system physically interconnected but not rigid, so that …
robot attachment makes the whole system physically interconnected but not rigid, so that …
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 …
the research, it was shown that the redundant joints in a serial robot could be used to make …