Adaptive fuzzy tracking control of flexible-joint robots based on command filtering
The precise tracking control problem for n-link flexible-joint (FJ) robotic systemsis addressed
in this paper. A new adaptive fuzzy command filtered control strategy is presented, where …
in this paper. A new adaptive fuzzy command filtered control strategy is presented, where …
Functional capsule robots: A Review of locomotion, pose, medical operation and wireless power transmission reported in 2018-2023
As a new type of medical equipment, capsule robots are actuated wirelessly by space
magnetic field, which have important application advantages in the diagnosis and treatment …
magnetic field, which have important application advantages in the diagnosis and treatment …
Interval type-2 fuzzy disturbance observer-based T–S fuzzy control for a pneumatic flexible joint
In this article, an interval type-2 fuzzy disturbance observer (IT2FDO) is proposed for the
trajectory tracking control of a flexible joint actuated by a pneumatic artificial muscle and a …
trajectory tracking control of a flexible joint actuated by a pneumatic artificial muscle and a …
[PDF][PDF] Untethered, high-load soft gripping robots: A review
李海利， 姚建涛， 周盼， 赵无眠， 许允斗… - Journal of Mechanical …, 2020 - qikan.cmes.org
Due to the limitation of soft materials, fabrication, and key components, most soft robots have
low load capacity and can not carry the hardware system for control and power. Therefore …
low load capacity and can not carry the hardware system for control and power. Therefore …
Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet
H Wang, J Cui, K Tian, Y Han - Nature Communications, 2023 - nature.com
Magnetic actuation has been well exploited for untethered manipulation and locomotion of
small-scale robots in complex environments such as intracorporeal lumens. Most existing …
small-scale robots in complex environments such as intracorporeal lumens. Most existing …
[PDF][PDF] 无系留大负载软体抓持机器人研究发展综述
李海利， 姚建涛， 周盼， 赵无眠， 许允斗， 赵永生 - 机械工程学报, 2020 - qikan.cmes.org
受软体材料, 制造工艺, 核心部件的限制, 大多数的软体机器人负载能力较低,
不能随机携带控制和能量硬件系统, 不得不通过管路和线路系留在外部硬件上 …
不能随机携带控制和能量硬件系统, 不得不通过管路和线路系留在外部硬件上 …
Ultrasound-guided wired magnetic microrobot with active steering and ejectable tip
Interventional therapy is popular in modern surgical procedures for the treatment of vascular
diseases. However, it remains challenging to smoothly steer the guidewire/catheter into …
diseases. However, it remains challenging to smoothly steer the guidewire/catheter into …
Soft magnetic microrobot doped with porous silica for stability-enhanced multimodal locomotion in a nonideal environment
As an emerging field of robotics, magnetic-field-controlled soft microrobot has broad
application prospects for its flexibility, locomotion diversity, and remote controllability …
application prospects for its flexibility, locomotion diversity, and remote controllability …
Magnetic navigation system composed of dual permanent magnets for accurate position and posture control of a capsule endoscope
We developed a magnetic navigation system (MNS) composed of a magnetic field control
part and a robot arm part to precisely control the position and posture of a capsule …
part and a robot arm part to precisely control the position and posture of a capsule …
Separable and recombinable magnetic robot for robotic endovascular intervention
J Sa, J Park, E Jung, N Kim, D Lee… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
This study presents a separable and recombinable magnetic robot (SRMR) to deliver and
retrieve an untethered magnetic robot (UMR) to a target vascular lesion safely and …
retrieve an untethered magnetic robot (UMR) to a target vascular lesion safely and …