A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Liu, Chao; Tosun, Tarik; Yim, Mark

doi:10.1115/1.4050249

Cited by 9 publications

(2 citation statements)

References 19 publications

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“…The base module m = m 1 is attached to the world frame W and F is attached to connector T of module m 4 . A virtual frame boundary is next in SMORES-EP modules are customizable potentiometers using paints [35,21]. These low-cost sensors with a modified Kalman filter for nonlinear systems are used to provide position information of each DoF.…”

Section: Ckbot Chainmentioning

confidence: 99%

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Liu,

Yim

2021

Preprint

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Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion planning problem. Real-time control brings about more difficulties in which robots have to maintain the stability while moving towards the target. Redundant systems are common in modular robots that consist of multiple modules and are able to transformed into different configurations with respect to different needs. Different from robots with fixed geometry or configurations, the kinematics model of a modular robotic system can alter as the robot reconfigures itself, and developing a generic control and motion planning approach for such systems is difficult, especially when multiple motion goals are coupled. A new manipulation planning framework is developed in this paper. The problem is formulated as a sequential linearly constrained quadratic program (QP) that can be solved efficiently. Some constraints can be incorporated into this QP, including a novel way to approximate environment obstacles. This solution can be used directly for real-time applications or as an off-line planning tool, and it is validated and demonstrated on the CKBot and SMORES-EP modular robot platforms.

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Section: Ckbot Chainmentioning

confidence: 99%

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Liu,

Yim

2021

Preprint

Self Cite

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“…Researches focusing on how to improve NBDC performance have concluded five optimization directions ( Chu et al, 2008 ; Controzzi et al, 2010 ; Controzzi et al, 2017 ; Montagnani et al, 2015b ; Hu et al, 2021 ; Wu et al, 2023 ): (1) Low cost. In order to meet the large-scale production and implementation of self-locking mechanisms, the cost of related components need to reasonably controlled ( Liu et al, 2021 ) while ensuring the performance and quality ( Mota et al, 2023 ). (2) Simplicity ( Zhang et al, 2023 ), including miniaturization ( Ding et al, 2021 ) and ease of manufacturing and assembly ( Controzzi et al, 2010 ).…”

Section: Introductionmentioning

confidence: 99%

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

Liu,

Luo,

Xiao

et al. 2024

Front. Bioeng. Biotechnol.

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During activities of daily living (ADLs), the wrist is mainly engaged in positioning and directing the hand. Researches have demonstrated that restoring wrist mobility can significantly enhance the manipulation ability, reduce body distortion caused by motion compensation, and improve the quality of life for amputees. However, most daily activities, particularly the delicate ones, place high demands on the ability of wrist to maintain a certain rotation angle, also known as non-back-drivable ability, which poses a challenge to the design of prosthetic wrists. To address this issue, various solutions have been proposed, including motor holding brakes, high reduction ratio reducers, and worm gears. However, the motor holding brake only functions after a power outage and cannot continuously prevent torque from the load end. The latter two solutions may alter the transmission ratio, resulting in reduced movement speed and transmission efficiency. Therefore, how to design a miniaturized non-back-drivable mechanism without changing the transmission ratio so that the forearm rotational freedom can be locked at any position for any duration is a problem to be solved in the research of prosthetic wrist designs. This paper presents a line-contact based non-back-drivable clutch (NBDC) that does not cause changes in the transmission ratio, ensuring the motion performance of the prosthetic limb. At the same time, it does not introduce additional friction in the forward transmission process, guaranteeing the overall efficiency. Most importantly, it only allows the torque transmitting from the motor to the load, prevents the load reversely from driving back even in a power failure condition, significantly improving the stability, safety, and comfort. Detailed kinematic and static analyses of the working process has been conducted, and transient dynamics simulation has been performed to verify its effectiveness. Through experiments, it is demonstrated that the self-locking torque of the output end could reach approximately 600 Nmm, and the unlocking torque of the input end is about 80 Nmm, which can be effectively integrated in prosthetic wrist rotation joints, contributing to the performance, safety and energy saving of prosthetic joint systems.

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SMORES-EP, a modular robot with parallel self-assembly

et al. 2022

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A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Cited by 9 publications

References 19 publications

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

SMORES-EP, a modular robot with parallel self-assembly

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