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 …

Trajectory planning and obstacle avoidance for hyper-redundant serial robots

MS Menon, VC Ravi, A Ghosal - Journal of …, 2017 - asmedigitalcollection.asme.org
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 …

Profile and contact force estimation of cable-driven continuum robots in presence of obstacles

KP Ashwin, SK Mahapatra, A Ghosal - Mechanism and Machine Theory, 2021 - Elsevier
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 …

Quasi-stationary state transportation of a hose with quadrotors

J Estevez, JM Lopez-Guede, M Graña - Robotics and Autonomous Systems, 2015 - Elsevier
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 …

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 …

Online fuzzy modulated adaptive PD control for cooperative aerial transportation of deformable linear objects

J Estevez, M Graña… - Integrated Computer …, 2017 - content.iospress.com
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 …

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 …

Planning framework for robotic pizza dough stretching with a rolling pin

JT Kim, F Ruggiero, V Lippiello, B Siciliano - Robot dynamic manipulation …, 2022 - Springer
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 …

Particle swarm optimization quadrotor control for cooperative aerial transportation of deformable linear objects

J Estevez, JM Lopez-Guede, M Graña - Cybernetics and Systems, 2016 - Taylor & Francis
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 …

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 …