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RISMechanics Modeling of Multisegment Rod Driven Continuum Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel modeling approach for the mechanics of multisegment, roddriven continuum robots. This modeling approach utilizes a highfidelity lumped parameter model that captures the variation in curvature ...
Robotic Modular Leg: Design, Analysis, and Experimentation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design and analysis of a reduced degree-of-freedom (DOF) robotic modular leg (RML) mechanism. The RML is composed of a two serially connected four-bar mechanisms that utilize mechanical constraints ...
Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the novel design of a bioinspired robot capable of generating spatial loading relative to its base. By looking to nature at how animals utilize their tails, a bioinspired structure is developed that ...
Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper analyzes how a multisegment, articulated serpentine tail can enhance the maneuvering and stability of a quadrupedal robot. A persistent challenge in legged robots is the need to account for propulsion, maneuvering, ...