This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version SED where updated tuning variable modified to adapt change objective function. By adopting term equation SED, it expected that convergence accuracy can be further improved. effectiveness verified tune robot. In this...

The present paper describes a pneumatically-driven forceps manipulator for minimally-invasive robot surgery that has a simplified flexible wrist joint for easy fabrication, cost reduction and future miniaturization. The joint structure consists only of a machined spring, and four NiTi super-elastic wires fixed to the joint-end are actuated by pneumatic cylinders in push-pull motions. This mecha...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based on joint torque feedback. To adaptively decrease the effects of high friction caused by complex transmission systems and joint coupling, a friction observer is proposed based on the extended Kalman filter (EKF) in this paper. A Cart...

Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagaranges equations and Kanes equation with congruency transformations. Finally, the results obtained from both methods are throroughly ...

Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughl...

Denavit Hartenberg (D-H) Kinematic structure representation of robot having revolute joint normally have fix arm length a, offset distance d, twist angle α and only varied joint angle θ. This paper introduce two (2) inputs variable of twist angle α and joint variable θ besides fix value of arm length a and offset distance d. Variable value of α and θ are dependent on polar electromagnetic actua...

This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentra...

The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...

Motion planning and redundancy resolution of a multi-segment continuum robot is studied. The direct and inverse kinematics model of the robot is derived assuming a constant radius of curvature in each flexible segment of the robot. Due to the primary and secondary backbone structure of the segment, each segment is modelled by two configuration variables and three joint space variables. This int...