Augmented surgical manipulation tasks can be viewed as a sequence of smaller, simpler steps driven primarily by the surgeon’s input. These steps can be abstracted as controlled interaction of the tool/end-effector with the environment. The basic research problem here is performing a sequence of control primitives. In computing terms, each of the primitives is a predefined computational routine(...

In this paper we consider the problem of stabilizing in a desired configuration a mobile manipulator; only the arm’s joint displacements information and the measures provided by a camera mounted on the end-effector are used to stabilize the system. In particular, no knowledge about the position and the orientation of the mobile base is supposed to be available. An hybrid control algorithm, base...

A problem’s representation has a big impact on how hard a problem is to solve, ranging from easy to solve to intractable. We describe a framework for meta-level search through a space of problem representations. These new problem representations are not predefined but are generated using a set of transformations. We define a set of component transformations and describe a case study of a single...

This paper introduces a new method for workspace boundary determination on general lower-pair multi-body systems. The method uses a branch-and-prune technique to isolate the set of end effector singularities, and then classifies the points in such set according to whether they correspond to actual motion impediments in the workspace. The method can deal with openor closed-chain systems, and is ...

The research and development of robot and robot system intend to increase eeciency and accuracy of tasks involving machines. In these tasks, many objects that diier in shape, size and weight are handled. A robot can be used in such tasks, which is also presented in this paper. Such robot is an artiicial intelligence due to its ability of resembling human's movements. This paper focuses on desig...

The first part of the paper describes different concepts for micro production. The potential of miniaturised size adapted robots is pointed out based on their flexibility. Flexibility thereby is discussed in a detailed way that leads to two different ways of robot integration. The second part of the paper deals with the desktop factory concept. Beginning with a short state of the art for deskto...

This paper focuses on a new approach to robot design and control for dealing with heavy loads. Referring to human dynamic motion, we studied dynamic task strategies to create large forces by dynamically moving the internal body. Much greater force can be obtained by this technique than the traditional quasi-static technique. Kinematic and dynamic behavior of human and robot is analyzed with dyn...

A novel method is presented for efficiently testing the stability of an object under contact that accommodates empirically determined sets of admissible forces at contact points. These admissible force volumes may exhibit a wide variety of geometries, including anisotropy, adhesion, and even nonconvexity. The method discretizes the contact region into patches, performs a convex decomposition of...

An electro-thermal micro-gripper for both in-plane clamping and out-of-plane motion is presented. The device consists of both in-plane and out-of-plane actuators. Each gripper arm performs a 7.4 μm in-plane and a 14 μm out-of-plane motion at 1.6 V and 2.5V actuation voltage, respectively. The maximum temperature and power consumption are 180 °C and 26.5 mW and 80 °C and 87.3mW for the in-plane ...

This paper presents force control of musculoskeletal manipulator driven by spiral motors. The kinematic and dynamic properties are shown to address the presence of ennvironmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into...