Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...

Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. ...

Abstract: The demand for robots capable of performing collaborative tasks requiring interactions with the environment is on the rise. Safe interactions with the environment require attributes such as high dexterity and compliance ...

Abstract: Bio-inspiration can be used in the development of novel dextrous and energy-efficient manipulators. This paper focuses on planar manipulators inspired by the bird neck, built upon stacking a series of tensegrity X-joints. ...

Abstract: In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and coactivated with appropriate forces to vary joint stiffness. Inspired by this, ...

Abstract: The characterization of the elastodynamic behavior and natural frequencies of parallel robots is a crucial point. Accurate elastodynamic models of parallel robots are useful at both their design and control stages in order ...

Abstract: This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity ...

Abstract: The 3RPS cube parallel manipulator, a threedegreeoffreedom parallel manipulator initially proposed by Huang and Fang (1995, “Motion Characteristics and Rotational Axis Analysis of Three DOF Parallel Robot Mechanisms,â€‌ ...