Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator

Lakhal, Othman; Melingui, Achille; Merzouki, Rochdi

doi:10.1109/tmech.2015.2490180

Cited by 60 publications

(42 citation statements)

References 42 publications

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“…In this approach a Distal Supervised Learning (DSL) technique is used to build a relation between effect and cause. Hybrid Approach used quantitative (Geometric) as well as qualitative (Neural Network) approaches to solve the inverse kinematics of CBHA [12]. In this approach, CBHA is considered, consisting of 17 vertebras, therefore each inter-vertebra is modeled as a parallel robot of type 3UPS-1UP (Universal-PrismaticSpherical).…”

Section: B Damped Least Square Methodsmentioning

confidence: 99%

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Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Singh

Lakhal

Amara

et al. 2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Inverse Kinematic Model (IKM) is very crucial for real-time control of a robot for any application. Computing the IKM of continuum manipulators is a challenging task. Two types of methods exists; quantitative methods describing a model-based approach; and qualitative methods, based on learning approach. As quantitative methods are based on mathematical expression, they are more flexible for extension (increase in number of sections or collaboration between more than one manipulator). In this paper, two quantitative approaches based on Newton Raphson iterative method and Damped Least Square method, are proposed for Compact Bionic Handling Assistant (CBHA) manipulator to solve inverse kinematics directly using Forward Kinematic Model (FKM). Experimental validation is done for these methods as well as they are compared with the existing approaches named Hybrid approach and Neural Network based learning approach.

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Section: B Damped Least Square Methodsmentioning

confidence: 99%

“…Neural Network [11] based approach approximates the inverse kinematic model of CBHA robot. Hybrid approach, both quantitative as well as qualitative, is used in [12] for IKM of CBHA. In this work, an approximation of inverse kinematic equations of CBHA manipulator is done using a multilayer NN.…”

Section: Introductionmentioning

confidence: 99%

Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Singh

Lakhal

Amara

et al. 2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…In our previous work, the kinematics of the CBHA has been developed [27]. The designed controller was able to guide the CBHA's end effector towards the desired target within 6-mm positioning accuracy.…”

Section: A Kinematics Of the Soft-continuum Manipulator Cbhamentioning

confidence: 99%

“…Finally, the elongations of each inter-vertebra are obtained through the IKES. For more details, we refer the interested reader to [27], [29].…”

Section: A Kinematics Of the Soft-continuum Manipulator Cbhamentioning

confidence: 99%

“…The challenging control task is the control of the of the soft manipulator. Indeed, in our previous work, [26], [27], [28], we have referred to the need to introduce adaptive algorithms to cope with undesirable effects of Compact Bionic Handling Assistant (CBHA). We have further noted that the use of non-adaptive control laws is not sufficient as the robot model changes over time.…”

Section: Introductionmentioning

confidence: 99%

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Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

Lakhal

Melingui

Dherbomez

2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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Additive manufacturing is an automated process for producing layer-by-layer material deposition. Recently this technology has been introduced in the industrial construction in order to print houses or smaller piece structures for on-site assembly, with complex geometry. In Additive manufacturing processes, the material deposition step is generally followed by a printing quality inspection step. However, the geometry of printed structures with minimal surfaces is sometimes complex, where rigid structure robots cannot reach certain zones to scan their surfaces. In this paper, a continuum-hyper-redundant manipulator equipped with a camera is attached to the endeffector of a mobile-manipulator robot for the quality inspection process. Indeed, Continuum manipulators can bend along structures with complex geometry; and this inherent flexibility makes them suitable for navigation and operation in congested environments. The number of controlled actuators being greater than the dimension of task space, this work is summarized in a trajectory tracking of hyper-redundant robots. This issue lies in the resolution of strongly nonlinear equations with a realtime computation. Thus, a hybrid methodology which combines the advantages of quantitative and qualitative approaches is used for modeling and resolution of the hyper-redundant robot kinematics. A kinematic controller was designed and a set of experiments was carried out to evaluate the level of efficiency of the proposed approach.

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Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Zhu

Lyu

et al. 2021

Advanced Intelligent Systems

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Endowed with the expected visions for future surgery, minimally invasive surgery (MIS) has become one of the most rapid developing areas in modern surgery. Soft robotics, which originates from interdisciplinary advances in materials, fabrication, and electronics, featuring better adaptability and safer interaction, holds great promises in addressing current technical challenges in MIS, which are difficult to be solved with current rigid robotic technologies. For the first time, herein, the expected characteristics of next-generation MIS from the surgeons' perspectives are analyzed and the recent progress of soft surgical instruments from three different aspects is comprehensively summarized: engineering design, fabrication techniques, and human-robot interaction. Perspectives of nextgeneration soft surgical robots are then discussed, where some exciting possibilities are emphasized. It is believed that further developments of intelligent soft robotics enable the next-generation MIS to agilely navigate to the target and conduct dexterous diagnostic or therapeutic procedures without any trade-offs in invasiveness and ultimately be a propitious solution for future surgery.

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Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator

Cited by 60 publications

References 42 publications

Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

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