- 19
- 75 608
Reach Robotics Lab
Приєднався 8 чер 2014
Welcome to the REACH Robotics Lab at the University of Tennessee! We are always studying new robotic structures, mechanisms, and controls. Some of these structures are continuously flexible, allowing them to conform to curved shapes and be made at very small scales. A main motivation is to create new tools tools that can save lives in minimally invasive surgery.
Concentric Push-Pull Robots: Slotted Tube Design
This is the video presentation of the paper below. In it, we detail the model-based design of a new type of robot made from concentric slotted tubes.
K. Oliver-Butler, J. A. Childs, A. Daniel and D. C. Rucker, "Concentric Push-Pull Robots: Planar Modeling and Design," in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 1186-1200, April 2022, doi: 10.1109/TRO.2021.3104249.
For more information, visit our lab webpage sites.google.com/view/reach-robotics-lab
K. Oliver-Butler, J. A. Childs, A. Daniel and D. C. Rucker, "Concentric Push-Pull Robots: Planar Modeling and Design," in IEEE Transactions on Robotics, vol. 38, no. 2, pp. 1186-1200, April 2022, doi: 10.1109/TRO.2021.3104249.
For more information, visit our lab webpage sites.google.com/view/reach-robotics-lab
Переглядів: 12 710
Відео
Parallel Continuum Robots
Переглядів 3,2 тис.Рік тому
An overview of our work on Parallel Continuum Robots, supported by NSF. More information and publications are available at our website below: sites.google.com/view/reach-robotics-lab
Tendon-Driven Robot Dynamics Simulation
Переглядів 712Рік тому
A tendon-driven robot moves an object from a table to a bin to demonstrate a dynamic simulation method. For more information, see our paper below. Till J, Aloi V, Rucker C. Real-time dynamics of soft and continuum robots based on Cosserat rod models. The International Journal of Robotics Research. 2019;38(6):723-746. doi:10.1177/0278364919842269
Elastic Stability of Cosserat Rods and Parallel Continuum Robots
Переглядів 416Рік тому
This is the video presentation of the paper below. In it, we develop a numerical method that tells us whether a parallel continuum robot model in a stable configuration. J. Till and D. C. Rucker, "Elastic Stability of Cosserat Rods and Parallel Continuum Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 718-733, June 2017, doi: 10.1109/TRO.2017.2664879.
Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing
Переглядів 191Рік тому
This is the video presentation for the paper below. In it, we detail modeling, sensing, and kinetostatic control for parallel continuum robots. C. B. Black, J. Till and D. C. Rucker, "Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing," in IEEE Transactions on Robotics, vol. 34, no. 1, pp. 29-47, Feb. 2018, doi: 10.1109/TRO.2017.2753829 For related work, see our la...
New Bending Actuator for Soft Robots
Переглядів 13 тис.Рік тому
This is the video presentation for the paper below. We developed a new mechanical bending actuator for soft robots. The actuator is 3D printable from standard (non-soft) materials, and is based on concentric precurved bellows. J. A. Childs and C. Rucker, "Concentric Precurved Bellows: New Bending Actuators for Soft Robots," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1215-1222, ...
Soft Robot Pours Drink Precisely
Переглядів 163Рік тому
This is a video demonstration from the paper below. We developed a rod-driven continuum robot with high output stiffness. The geometry of the robot's design enables it to carry heavy loads with minimal deflection and vibration while still having a flexible body. Jake A. Childs, Caleb Rucker, "Leveraging Geometry to Enable High-Strength Continuum Robots", Frontiers in Robotics and AI, 18 Februar...
Controlling Soft Robots in Task Space
Переглядів 1,7 тис.Рік тому
This is the video presentation of the paper below. We developed a model-based control approach for soft and continuum robots that robustly accounts for their highly underactuated dynamics. C. Rucker, E. J. Barth, J. Gaston and J. C. Gallentine, "Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models," 2022 IEEE/RSJ International Conference on Intelligent Robots and Syste...
Rigid Body Inertia: A Way to Guarantee Physical Consistency
Переглядів 220Рік тому
This is a video presentation of the paper below. We developed a way to describe rigid body inertia that avoids singularities and guarantees physical consistency. C. Rucker and P. M. Wensing, "Smooth Parameterization of Rigid-Body Inertia," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2771-2778, April 2022, doi: 10.1109/LRA.2022.3144517.
Concentric Tube Robots: Stabilization through Stiffness Asymmetry
Переглядів 731Рік тому
This is the video presentation of the paper below. We discovered that using tubes with asymmetric stiffness can improve the stability of concentric tube robots far more efficiently than prior methods. C. Rucker, J. Childs, P. Molaei and H. B. Gilbert, "Transverse Anisotropy Stabilizes Concentric Tube Robots," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2407-2414, April 2022, doi...
Comparison of Parallel and Converging Tendon Routing
Переглядів 2,9 тис.5 років тому
From the paper "Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements."
Real-Time Dynamics of Soft and Continuum Robots based on Cosserat-Rod Models
Переглядів 6 тис.5 років тому
Experiments and simulations from our IJRR paper are shown. Till J, Aloi V, Rucker C. Real-time dynamics of soft and continuum robots based on Cosserat rod models. The International Journal of Robotics Research. 2019;38(6):723-746. doi:10.1177/0278364919842269
Elastic Rod Dynamics: Validation of a Real-time Implicit Approach
Переглядів 8837 років тому
We validate the dynamic elastic rod simulation presented in our paper for the 2017 IEEE IROS conference, "Elastic Rod Dynamics: Validation of a Real-time Implicit Approach." Abstract-The large dynamic deflections of continuum robots, soft robots, and slender elastic objects can be accurately modeled with classical rod theories in nonlinear elasticity. In this paper we propose a real-time computa...
Surgical Parallel Continuum Manipulator
Переглядів 3,8 тис.8 років тому
This video is a demonstration of the parallel continuum manipulator's actuation in 8 degrees of freedom (DOF). Articulation of the end effector pose is shown in 6-DOF for cases of combined rotation/translation, pure translation, pure rotation, and axial twist. Each jaw of the 2-DOF grasper is then independently actuated across its 180 degree range of motion. The platform actuation module and en...
Parallel Continuum Robot Writes on Whiteboard
Переглядів 2,3 тис.9 років тому
Path planning is used to write the lab name on the whiteboard using open-loop control. The robot uses six flexible rods attached to linear actuators to achieve 6-DOF control of the dry-erase marker tip. Related publications can be found at the REACH Lab website: sites.google.com/view/reach-robotics-lab
Real-Time Simulation and Control of a Parallel Continuum Manipulator
Переглядів 2,8 тис.10 років тому
Real-Time Simulation and Control of a Parallel Continuum Manipulator
Concentric Tube Robot Demonstration and Teleoperation
Переглядів 3,8 тис.10 років тому
Concentric Tube Robot Demonstration and Teleoperation
Continuum Robot with General Tendon Routing
Переглядів 17 тис.10 років тому
Continuum Robot with General Tendon Routing
Parallel Continuum Manipulator Demo
Переглядів 3,4 тис.10 років тому
Parallel Continuum Manipulator Demo
thanks thanks thanks 🧑🚒
Nano sized
Suitex produces upper limb exoleton r not
nice achievement!! could you provide the STL design or 3d design file?
wow!!!!!
Could u upload the 3d model?? and good job
Can I get the MATLAB code, of it???
This is a great presentation!
Stunning achievement! Can't wait to see progress.
Pioneering
Amazing work you have done here
great work! what did y'all use to cut the really small hole pattern in the tubes? also how did you find the exact EI and GJ values for these asymmetric tubes? do you also think there could be an even better design that minimizes EIx and maximizes GJ, or is this pretty close to the theoretical maximum? i mean, if the workspace is still full, then it really doesn't need to be reduced more, but just asking for a general case.. awesome work
Hello,What to use for simulation?
Very cool idea and great execution and explication!
nice!
Imagine the possibilities ....
Very cool
i was especially intrigued by the notch pattern generation algorithm. exceptionally presented. Kudos!
Awesome, I hope to see this tech in automatically aligning vehicle chargers some day. Imagine just parking your electric vehicle in your garage and your charger robot plugs it in for you.
Very cool paper and well presented. Are there any applications you have planned for this? How much force can this exert at the tip when bending? (I am about to read the paper, I apologize if these are answered there)
Answer to my first question: Benefits of this approach include intrinsic safety for human interaction [1], [2], gripping of delicate or irregularly shaped objects [3], [4], [5], and the ability to be made at slender, millimeter-scale sizes for access in hard-to-reach areas.
This could be interesting if Japan gets a hold of this.
Why...
@@joshheselton8878 Tentacle naughties 🐙🍆🍾
Lol! Well played.
Oooooh yes
tentacles? lol
This could change the world. I love this
What was the software used to simulate the model ??
wa!!! so cool!!!
Nice
Hi I am working on the Soft Fluidic actuator. I am interested to know the Cosserat Dynamics for the fluidic soft robot case. Can u share the dynamics or the paper which you have used. U can send me in apurba.iitd@gmail.com
DAMN!!!
you can control the rotation and translation motion of each tube this point is clear but how can you control the curvature of each tube with this small size? Can you help me to understand this point, thanks for you
It is an amazing idea!
Very very nice
The idea of having wires within the tube for the actuation of end effector is really interesting
I like! Keep it up!
this is very interesting work. You've done away with the tentacle surround, and are just using the push/pull actuating cables completely BARE
dude, considering the size of the end effector, this *low resolution* video is ridiculous.
what is the purpose of the helical movement? It seems like it would make more sense if it could helix both left *and* right, but i'm not sure what the underlying idea for the helix motion was.