Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design pr...

In the field of service robotics, robots serve and assist human beings. It is natural for humans to directly interact with the robot via tactile interfaces. This paper introduces several kinds of tactile interactions between a user and the robot as well as interactions of the robot with the environment. All interactions are implemented in a single paradigm: Forces measured from tactile sensors ...

This present study deals with the problem of sequencing feeding tasks of a single mobile robot with manipulation arm which is able to provide parts or components for feeders of machines in a manufacturing cell. The mobile robot has to be scheduled in order to keep machines within the cell producing products without any shortage of parts. A method based on the characteristics of feeders and insp...

In the field of service robotics, robots serve and assist human beings. It is natural for humans to directly interact with the robot via tactile interfaces. This paper introduces several kinds of tactile interactions between a user and the robot as well as interactions of the robot with the environment. All interactions are implemented in a single paradigm: Forces measured from tactile sensors ...

In a recent paper we have presented a method for image-based navigation by which a robot can navigate to desired positions and orientations in 3-0 space specified b y single images taken from these positions. In this paper we further investigate the method and develop robust algorithms for navigation assuming the perspective projection model. In particular, we develop a tracking algorithm that ...

Abstract With the widespread application of legged robot in various fields, demand for a with high locomotion and manipulation ability is increasing. Adding an extra arm useful but general method to obtain ability. Hence, this paper proposes novel hexapod two integrated leg—arm limbs that dexterous functions besides without adding arm. The modes can be divided into coordinated condition single-...

The rapid evolution of standard hardware such as workstations and PCs made it possible to develop workstation or PC based robot controls. RoboSiM, a robot simulation and monitoring system, is based on such a robot control. RoboSiM runs on the real robot controller which may be either a SPARC workstation or a PC. Traditional systems simulate both, the robot arm and the robot control. The basic i...

Human environments present special challenges for robot manipulation, since they are complex, dynamic, uncontrolled, and difficult to perceive reliably. For tasks that involve two handheld objects, the use of two arms can help overcome these challenges. With bimanual manipulation, a robot can simultaneously control two handheld objects in order to better perceive key features, control the objec...

A direct-drive arm is a mechanical arm in which the shafts of articulared joints are directly coupled to the rotors of motors with high torque. Since the arm does not contain transmission mechanisms between the motors and their loads, the drive system has no backlash, small friction, and high mechanical stiffness, all of which are desirable for fast, accurate, and versatile robots. First, the p...

PURPOSE We describe multiple uses of the fourth robotic arm and TilePro on the da Vinci S surgical system to maximize console surgeon independence from the assistant during robot-assisted renal surgery. MATERIALS AND METHODS We prospectively evaluated the use of the fourth robotic arm and TilePro on the da Vinci S during robot-assisted radical nephrectomy (RRN) and robot-assisted partial neph...