In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed considers the environment as continuum spring-damper systems, which allows us to compute equivalent contact force and torque that exerts on surface. We show extends linear rotational springs dampers - classically used characterize soft terrains case large surface orientations. is...

We imaged nanoscale lattice strain in a multilayer semiconductor device prototype with a new X-ray technique, nanofocused Bragg projection ptychography. Applying this technique to the epitaxial stressor layer of a SiGe-on-SOI structure, we measured the internal lattice behavior in a targeted region of a single device and demonstrated that its internal strain profile consisted of two competing l...

Abstract Continuum robots for application in medicine are of high interest recent research. However, as most systems literature show complex and large actuator units, setting up such a system can be time consuming, costly results bulky system, unsuitable the spatial requirements given surgical scenarios. In this work, compact, efficient continuum robotic is presented. A pair two antagonistic te...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

BACKGROUND The preferred method of treatment for atrial fibrillation (AF) is by catheter ablation, in which a catheter is guided into the left atrium through a transseptal puncture. However, the transseptal puncture constrains the catheter, thereby limiting its manoeuvrability and increasing the difficulty in reaching various locations in the left atrium. In this paper, we address the problem o...

New models for the Tendril continuous backbone robot, and other similarly constructed robots, are introduced and expanded upon in this thesis. The ability of the application of geometric models to result in more precise control of the Tendril manipulator is evaluated on a Tendril prototype. We examine key issues underlying the design and operation of ―soft‖ robots featuring continuous body (―co...