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Soft actuators in surgical robotics: a state-of-the-art review
Springer Science and Business Media LLC - - 2023
Soft surgical robots represent a groundbreaking innovation in the field of medical technology. These robots utilize soft, deformable materials to navigate and interact with delicate structures inside the human body, such as organs and blood vessels, with enhanced safety. They have the potential to transform healthcare by expanding the capabilities of minimally invasive surgeries, targeted drug del......
Accuracy enhancement for the front-end tracking algorithm of RGB-D SLAM
Springer Science and Business Media LLC - Tập 13 - Trang 207-218 - 2019
A robust and accurate simultaneous localization and mapping (SLAM) in working scenarios is an essential competence to perform mobile robotic tasks autonomously. Plenty of research indicates that the extraction of point features from RGB-D data that simultaneously take into account the images and the depth data increases the robustness and precision of the visual odometry method, used either as a s......
Analysis of duality-based interconnected kinematics of planar serial and parallel manipulators using screw theory
Springer Science and Business Media LLC - Tập 13 - Trang 47-62 - 2019
In this paper, a method has been proposed to analyze the planar architectures of serial and parallel manipulators, based on the duality associated with their interconnected kinematics. The interconnected kinematics states that model of one architecture can be derived from the kinematic model of the other, using screw theory approach. The performance of the initial and the derived manipulators was ......
Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments
Springer Science and Business Media LLC - Tập 7 - Trang 211-220 - 2014
Robots, traditionally confined into factories, are nowadays moving to domestic and assistive environments, where they need to deal with complex object shapes, deformable materials, and pose uncertainties at human pace. To attain quick 3D perception, new cameras delivering registered depth and intensity images at a high frame rate hold a lot of promise, and therefore many robotics researchers are n......
Performance analysis of path planners for car-like vehicles toward automatic parking control
Springer Science and Business Media LLC - Tập 7 - Trang 15-23 - 2013
A car parking control problem is difficult because of its non-holonomic constraints and complicated environmental geometry. We proposed Korea University Path Planner (KPP) in our prior work. KPP is an appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comp......
Reinforcement learning path planning algorithm based on obstacle area expansion strategy
Springer Science and Business Media LLC - Tập 13 - Trang 289-297 - 2020
We improve the traditional Q($$ \lambda $$)-learning algorithm by adding the obstacle area expansion strategy. The new algorithm is named OAE-Q($$ \lambda $$)-learning and applied to the path planning in the complex environment. The contributions of OAE-Q($$ \lambda $$)-learning are as follows: (1) It expands the concave obstacle area in the environment to avoid repeated invalid actions when the a......
Design and control of JAIST active robotic walker
Springer Science and Business Media LLC - Tập 3 - Trang 125-135 - 2010
This paper presents the design and control of a novel assistive robotic walker that we call “JAIST active robotic walker (JARoW)”. JARoW is developed to provide potential users with sufficient ambulatory capability in an efficient, cost-effective way. Specifically, our focus is placed on how to allow easier maneuverability by creating a natural interface between the user and JARoW. For the purpose......
Symmetric lifting posture recognition of skilled experts with linear discriminant analysis by center-of-pressure velocity
Springer Science and Business Media LLC - - 2017
Although it has been well known that novices should train a good lifting posture, there was little way to recognize whether the current posture was good or not based on measured data. The purpose of this paper was to classify the difference between skilled experts working at a freight transport company and unskilled novices without any experience during symmetric lifting by using center-of-pressur......
Dynamic modeling and control of hopping robot in planar space
Springer Science and Business Media LLC - Tập 9 - Trang 153-161 - 2016
The paper presents two-mass inverted pendulum (TMIP) model and its control scheme for hopping robot. Unlike the conventional spring-loaded inverted pendulum (SLIP) model, the proposed TMIP model is able to provide the functions of energy storing and releasing by using a linear actuator. Also it becomes more accurate comparing to the conventional SLIP model by taking the foot mass into consideratio......
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