- Видео 19
- Просмотров 78 212
Reach Robotics Lab
Добавлен 8 июн 2014
Welcome to the REACH Robotics Lab at the University of Tennessee! We are always studying new robotic structures, mechanisms, and controls. Some of these structures are continuously flexible, allowing them to conform to curved shapes and be made at very small scales. A main motivation is to create new tools tools that can save lives in minimally invasive surgery.
Concentric Push-Pull Robots: Slotted Tube Design
This is the video presentation of the paper below. In it, we detail the model-based design of a new type of robot made from concentric slotted tubes.
K. Oliver-Butler, J. A. Childs, A. Daniel and D. C. Rucker, "Concentric Push-Pull Robots: Planar Modeling and Design," in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 1186-1200, April 2022, doi: 10.1109/TRO.2021.3104249.
For more information, visit our lab webpage sites.google.com/view/reach-robotics-lab
K. Oliver-Butler, J. A. Childs, A. Daniel and D. C. Rucker, "Concentric Push-Pull Robots: Planar Modeling and Design," in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 1186-1200, April 2022, doi: 10.1109/TRO.2021.3104249.
For more information, visit our lab webpage sites.google.com/view/reach-robotics-lab
Просмотров: 13 218
Видео
Parallel Continuum Robots
Просмотров 3,4 тыс.Год назад
An overview of our work on Parallel Continuum Robots, supported by NSF. More information and publications are available at our website below: sites.google.com/view/reach-robotics-lab
Tendon-Driven Robot Dynamics Simulation
Просмотров 774Год назад
A tendon-driven robot moves an object from a table to a bin to demonstrate a dynamic simulation method. For more information, see our paper below. Till J, Aloi V, Rucker C. Real-time dynamics of soft and continuum robots based on Cosserat rod models. The International Journal of Robotics Research. 2019;38(6):723-746. doi:10.1177/0278364919842269
Elastic Stability of Cosserat Rods and Parallel Continuum Robots
Просмотров 469Год назад
This is the video presentation of the paper below. In it, we develop a numerical method that tells us whether a parallel continuum robot model in a stable configuration. J. Till and D. C. Rucker, "Elastic Stability of Cosserat Rods and Parallel Continuum Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 718-733, June 2017, doi: 10.1109/TRO.2017.2664879.
Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing
Просмотров 208Год назад
This is the video presentation for the paper below. In it, we detail modeling, sensing, and kinetostatic control for parallel continuum robots. C. B. Black, J. Till and D. C. Rucker, "Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing," in IEEE Transactions on Robotics, vol. 34, no. 1, pp. 29-47, Feb. 2018, doi: 10.1109/TRO.2017.2753829 For related work, see our la...
New Bending Actuator for Soft Robots
Просмотров 13 тыс.Год назад
This is the video presentation for the paper below. We developed a new mechanical bending actuator for soft robots. The actuator is 3D printable from standard (non-soft) materials, and is based on concentric precurved bellows. J. A. Childs and C. Rucker, "Concentric Precurved Bellows: New Bending Actuators for Soft Robots," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1215-1222, ...
Soft Robot Pours Drink Precisely
Просмотров 172Год назад
This is a video demonstration from the paper below. We developed a rod-driven continuum robot with high output stiffness. The geometry of the robot's design enables it to carry heavy loads with minimal deflection and vibration while still having a flexible body. Jake A. Childs, Caleb Rucker, "Leveraging Geometry to Enable High-Strength Continuum Robots", Frontiers in Robotics and AI, 18 Februar...
Controlling Soft Robots in Task Space
Просмотров 1,8 тыс.Год назад
This is the video presentation of the paper below. We developed a model-based control approach for soft and continuum robots that robustly accounts for their highly underactuated dynamics. C. Rucker, E. J. Barth, J. Gaston and J. C. Gallentine, "Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models," 2022 IEEE/RSJ International Conference on Intelligent Robots and Syste...
Rigid Body Inertia: A Way to Guarantee Physical Consistency
Просмотров 235Год назад
This is a video presentation of the paper below. We developed a way to describe rigid body inertia that avoids singularities and guarantees physical consistency. C. Rucker and P. M. Wensing, "Smooth Parameterization of Rigid-Body Inertia," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2771-2778, April 2022, doi: 10.1109/LRA.2022.3144517.
Concentric Tube Robots: Stabilization through Stiffness Asymmetry
Просмотров 816Год назад
This is the video presentation of the paper below. We discovered that using tubes with asymmetric stiffness can improve the stability of concentric tube robots far more efficiently than prior methods. C. Rucker, J. Childs, P. Molaei and H. B. Gilbert, "Transverse Anisotropy Stabilizes Concentric Tube Robots," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2407-2414, April 2022, doi...
Comparison of Parallel and Converging Tendon Routing
Просмотров 2,9 тыс.5 лет назад
From the paper "Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements."
Real-Time Dynamics of Soft and Continuum Robots based on Cosserat-Rod Models
Просмотров 6 тыс.5 лет назад
Experiments and simulations from our IJRR paper are shown. Till J, Aloi V, Rucker C. Real-time dynamics of soft and continuum robots based on Cosserat rod models. The International Journal of Robotics Research. 2019;38(6):723-746. doi:10.1177/0278364919842269
Elastic Rod Dynamics: Validation of a Real-time Implicit Approach
Просмотров 8857 лет назад
We validate the dynamic elastic rod simulation presented in our paper for the 2017 IEEE IROS conference, "Elastic Rod Dynamics: Validation of a Real-time Implicit Approach." Abstract-The large dynamic deflections of continuum robots, soft robots, and slender elastic objects can be accurately modeled with classical rod theories in nonlinear elasticity. In this paper we propose a real-time computa...
Surgical Parallel Continuum Manipulator
Просмотров 3,9 тыс.8 лет назад
This video is a demonstration of the parallel continuum manipulator's actuation in 8 degrees of freedom (DOF). Articulation of the end effector pose is shown in 6-DOF for cases of combined rotation/translation, pure translation, pure rotation, and axial twist. Each jaw of the 2-DOF grasper is then independently actuated across its 180 degree range of motion. The platform actuation module and en...
Parallel Continuum Robot Writes on Whiteboard
Просмотров 2,3 тыс.9 лет назад
Path planning is used to write the lab name on the whiteboard using open-loop control. The robot uses six flexible rods attached to linear actuators to achieve 6-DOF control of the dry-erase marker tip. Related publications can be found at the REACH Lab website: sites.google.com/view/reach-robotics-lab
Real-Time Simulation and Control of a Parallel Continuum Manipulator
Просмотров 2,8 тыс.10 лет назад
Real-Time Simulation and Control of a Parallel Continuum Manipulator
Concentric Tube Robot Demonstration and Teleoperation
Просмотров 3,9 тыс.10 лет назад
Concentric Tube Robot Demonstration and Teleoperation
Continuum Robot with General Tendon Routing
Просмотров 18 тыс.10 лет назад
Continuum Robot with General Tendon Routing
Parallel Continuum Manipulator Demo
Просмотров 3,4 тыс.10 лет назад
Parallel Continuum Manipulator Demo