This paper presents the concept of a cable-manipulator based 6-DOF hardware-in-the-loop (HIL) dynamics simulation system for testing and verification of microgravity contact-dynamics behavior of a space system. It then focuses on the inverse dynamics problem of the 6-DOF cable-driven manipulator which is designed for the simulation system. Accurate modeling and solution of the inverse dynamics ...

There is a need for highly redundant manipulators to work in complex, cluttered environments. We explore kinematics and path planning for highly redundant manipulators by means of a continuous manipulator model, which captures the macroscopic shape of highly redundant manipulators. A path for the continuous manipulator model can be found by nding a smooth path for its end-e ector under a maximu...

The real-time coordination and control of a many motion degrees of freedom (dof) unmanned ground vehicle under dynamic conditions in a complex environment is nearly impossible for a human operator to accomplish. Needed are adaptive on-board mechanisms to quickly complete sensor-effector loops to maintain balance and leverage. This paper contains a description of our approach to the control prob...

This paper presents an autonomous grasping approach for complex-shaped objects using anthropomorphic robotic hand. Although human-like hands have a number of distinctive advantages, most the current pickup systems still use relatively simple gripper setups such as two-finger or even suction gripper. The main difficulty utilizing lies in sheer complexity system; it is inherently tough to plan an...

Blood capillaries in brain [5] and skeletal muscle [1] can be visualized and studied in 3D by confocal microscopy. 3D data enable direct analysis of the geometric properties of complex networks by image analysis techniques. The graphs of capillaries that cannot be detected automatically due to low contrast, high noise or complicated background but are clearly visible can still be digitized manu...

There is a need for highly redundant manipulators to work in complex, cluttered environments. We explore kinematics and path planning for highly redundant manipulators by means of a continuous manipulator model, which captures the macroscopic shape of highly redundant manipulators. A path for the continuous manipulator model can be found by nding a smooth path for its end-e ector under a maximu...

We present a novel approach for incorporating collision avoidance into trajectory optimization as a method of solving robotic motion planning problems. At the core of our approach are (i) A sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary. (ii) An efficient formulation of the no-collisions...

The current work focuses on the development of a comprehensive scheme for the coordinated control of remotely operated vehicle–manipulator (ROVM) systems, and it proposes a novel mode for their operation. The proposed scheme consists of 2 main stages: redundancy resolution, and and robust model based control. In the redundancy resolution stage, the end-effector input commanded by a human pilot ...

The K-user single-antenna Gaussian Interference Channel (GIC) is considered, where the channel coefficients are NOT necessarily time-variant or frequency selective. It is proved that the total Degrees-Of-Freedom (DOF) of this channel is K 2 almost surly, i.e. each user enjoys half of its maximum DOF. Indeed, we prove that the static time-invariant interference channels are rich enough which all...

Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through using millimeter-scale robotic manipulators under control of the surgeon. With appropriate communication links, it would also be possible to perform remote surgery for care in rural areas where specialty care is unavailable, or t...