In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obt...

As a heat-triggered smart material, shape memory alloy (SMA) has been widely used in soft actuators and bioinspired robots. Coupled SMA wires are commonly chosen to achieve reversible actuation, while segment assembling methods the main solutions for complicated bending modes. To address this, dual-stimulus responsive SMA/PDMS were proposed this research. exerted by electrical current, showed p...

Recent applications of autonomous agents and robots have brought attention to crucial trust-related challenges associated with the current generation artificial intelligence (AI) systems. AI systems based on connectionist deep learning neural network approach lack capabilities explaining their decisions actions others, despite great successes. Without symbolic interpretation capabilities, they ...

The National Renewable Energy Laboratory (NREL) and U.S. Department of Energy (DOE) are interested in developing more efficient vehicle air conditioning (A/C) systems to reduce fuel consumption in advanced vehicle designs. Vehicle A/C systems utilizing electrically-driven compressors are one possible system design approach to increasing A/C system performance over various drive cycle conditions...

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Compliance in jumping robots improves gait stability and enables energy-efficient locomotion. Here, 3D printable auxetic tubular springs from thermoplastic polyurethane (TPU) for rapid sustainable hopping are developed. Because the have negative Poisson's ratios, they become stiffer as compression proceeds theoretically stores 35.2% more energy than a linear spring with same stiffness. As stres...

Robots currently lack common sense about the forces involved in everyday manipulation tasks. In this paper, we present data-driven methods to inform robots about the forces that they are likely to encounter when performing specific tasks. In the context of door opening, we demonstrate that data-driven models can be used to haptically recognize specific doors, haptically recognize classes of doo...

This paper presents the concept of muscle-driven locomotion for planar snake robots, which combines advantages both rigid and soft robotic approaches to enhance performance robot locomotion. For this purpose, two adjacent links are connected by a pair pneumatic artificial muscles wherein an alternate actuation these actuators causes rotational motion at connecting joints. The muscle-based actua...