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Realization of the Fast Real-Time Hierarchical Inverse Kinematics for Dexterous Full Body Manipulation |
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Seongil Hong, Gyuhyun Park, Wonsuk Lee, Sincheon Kang(Agency for Defense Development, Korea) |
| We focus on the realization of the hierarchical inverse kinematics as a practical means of a hard real-time motion planning for a humanoid robot. To achieve complex on-line full body manipulation performance, a task priority is established among the tasks to precisely resolve task conflicts and all algorithms are described in recursive equations so as to minimize computation time. Formulating the kinematic problem in a least-square optimization enables us to derive solutions in a unified and consistent framework. |
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A Teleoperated Robotic Catheter System with Motion and Force Feedback for Vascular Surgery |
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Olatunji Mumini Omisore(Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China) |
| In recent time, robotic catheter systems have been proposed to minimize major limitations in minimally invasive vascular surgery. Technical evaluations of conventional systems have shown that teleoperation of robot-based systems could provide feasible and safe treatment method for vascular abnormalities. However, despite the merits, robot-assisted vascular surgeries are performed in fewer clinical centres, worldwide. In this study, a 2-DoF teleoperated robotic catheter system, with visual of motion and force feedback , is proposed for vascular catheterization. |
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A Partitioning-Based Approach for Robot Path Planning Problems |
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Chien Yen Wang, Shadi Banitaan, Jingxiang Lyu(University of Detroit Mercy, United States) |
| Path planning is one of the most important studied problems in the field of autonomous robots. In this paper, a Partitioning-Based Path Planning approach, called PBPP, has been proposed by partitioning-based and hierarchical methods that effectively improve the A* algorithm. The PBPP uses the concept of divide-and-conquer to divide the global map into each of sub-map in which a collision-free space is able to be represented. The experimental results demonstrate the PBPP‘s utility for reducing time-consumption and finding low-cost paths. |
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Friction Modeling of a Robot Driven by Worm Gear transmission |
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Muhammad Shoaib, Munyu Kim, Joono Cheong(Korea University, Korea) |
| Friction Modeling of a Robot Driven by Worm Gear transmission
Muhammad Shoaib, Munyu Kim and Joono Cheong ( Korea University, South Korea)
This paper presents the friction modeling of a rescue robot driven through the worm gear transmission. In the modeling, the characteristics of the worm gear are investigated by static and dynamic analyses. Especially we examine the dependency between break-away joint torques and the direction of motion and/or the loading torque. The worm gear friction parameters of a physical robot are identified by experimental tests. |
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