Abstract: Based on observations from nature, tails are believed to help animals achieve highly agile motions. Traditional single-link robotic tails serve as a good simplification for both modeling and implementation purposes. However, ...

Abstract: This paper presents the design, dynamic modeling, and integration of a single degree of freedom (DOF) robotic leg mechanism intended for tailed quadruped locomotion. The design employs a lightweight six-bar linkage that ...

Abstract: An extensible continuum manipulator (ECM) has specific advantages over its nonextensible counterparts. For instance, in certain applications, such as minimally invasive surgery or pipe inspection, the base motion might be ...

Abstract: This paper presents the development of a new robotic tail based on a novel cable-driven universal joint mechanism. The novel joint mechanism is synthesized by geometric reasoning to achieve the desired cable length invariance ...

Abstract: To obtain the closed-form forward kinematics of parallel robots, researchers use algebra-based method to transform and simplify the constraint equations. However, this method requires a complicated derivation that leads ...