A new robotic platform for natural orifice surgery is described. The robot is designed to carry multiple tool tips in a single end-effector arm. Design and experimental validation are presented. Although the design is still being improved, results suggest that the new robotic tool will enable dexterous abdominal surgery with improved force transmission capability.

Many industrial robot arms are operated in industry, and some robotic applications in the industry, such as a pulling-out of products made by die casting, require the flexible motion excited by an external force. Here, the flexible motion means that the robot arm moves passively according to the external force. Industrial robot arms, however, are difficult to be moved by the external force beca...

A biped humanoid robot is prone to fall when walking or operating in a complex environment, and forward fall is one of the most common falling cases. This study focuses on the forward fall issue and presents an “Arm Flexible Landing Strategy” for safe falling. First, the forward falling motion is analyzed from an energy variation perspective of the robot system, and a method to choose best-fit ...

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then p...

This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable ...

In order to improve the work efficiency and performance of robotic arm in product sorting process, a robot autonomous grasping control method based on visual recognition feedback is proposed. Aiming at limitations traditional teaching or object single feature, an improved template matching target identification contour Hu moment feature for combined with color shape features Through carrying ou...

A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement a force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a m...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

BACKGROUND Electromechanical and robot-assisted arm training devices are used in rehabilitation and might help to improve arm function after stroke. OBJECTIVES To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living and arm function and motor strength of patients after stroke, and the acceptability and safety of the therapy. ...

We present a Bag of Words-based active object categorization technique implemented and tested on a humanoid robot. The robot is trained to categorize objects that are handed to it by a human operator. The robot uses hand and head motions to actively acquire a number of different views. A view planning scheme using entropy minimization reduces the number of views needed to achieve a valid decisi...