This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well a...

SCIENCE sciencemag.org low-gravity environment that may also be under vacuum conditions. In outer space, neither vacuum nor sticky pads may hold. Jiang et al. devised a robotic gripper using gecko feet–inspired dry adhesives that can be activated or deactivated by shearing motions. Small adhesive patches can be mechanically coupled to allow for load sharing over a large area. By attaching these...

This paper presents an open hardware and software platform for modular robotics (Molecubes). The goal of this project is to share the practice of design and construction of modular robotic systems with an emphasis on an expandable, open-architecture system made of standard components at reasonable costs. We present several different types of active modules including a controller, actuated joint...

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for th...

This paper introduces SNUMAX, the grand winner of the RoboSoft Grand Challenge. SNUMAX was built to complete all the tasks of the challenge. Completing these tasks required robotic compliant components that could adapt to variable situations and environments and generate enough stiffness to maintain performance. SNUMAX has three key components: transformable origami wheels, a polymer-based vari...

This work represents an industrial sorting system where image processing is accompanied using a pick-and-place robotic gripper. The of objects done based on their shape and color. Here the color different are identified processing. For this, webcam used to capture images object in real-time then process them via digital computer. Python programming language for this work. After successfully ide...

Grasping strategy of many different kinds target objects is vital in a wide range automatic robotic manipulations. Among the potential applications for robot arm with parallel gripper, key challenge grasping to determine an optimal pose relative object. Previous works based on 2D grasp and 6-Dof planning have been proposed efficiently consider physical contact between gripper However, there are...

This letter proposes a novel single-fingered reconfigurable robotic gripper for grasping objects in narrow working spaces. The finger of the developed realizes two configurations, namely, insertion and modes, using only single motor. In mode, assumes thin shape such that it can insert its tip into space. mode is activated through folding mechanism. Mode switching be achieved ways: actively by m...

In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and encompass variety of shapes grasping using single actuator is proposed, unlike the previous robotic grippers capable only shape adaptation. Therefore, both motion parallel situations are enabled by proposed design gripper. Adaptation provided through...