CLIIN Robotics’ Post

𝐑𝐞𝐝𝐞𝐟𝐢𝐧𝐢𝐧𝐠 𝐟𝐥𝐞𝐱𝐢𝐛𝐢𝐥𝐢𝐭𝐲 𝐰𝐢𝐭𝐡 𝐭𝐡𝐞 #𝐏𝐏𝐃 𝐟𝐨𝐫 𝐩𝐧𝐞𝐮𝐦𝐚𝐭𝐢𝐜 𝐠𝐫𝐢𝐩𝐩𝐞𝐫𝐬 Discover the versatility of our pneumatic positioning device PPD, which offers not just 𝐟𝐫𝐞𝐞 𝐩𝐨𝐬𝐢𝐭𝐢𝐨𝐧𝐢𝐧𝐠 but also 𝐚𝐝𝐣𝐮𝐬𝐭𝐚𝐛𝐥𝐞 𝐠𝐫𝐢𝐩𝐩𝐢𝐧𝐠 𝐟𝐨𝐫𝐜𝐞 and 𝐬𝐩𝐞𝐞𝐝 for all applications involving pneumatic grippers. Achieved through an effortless setup of gripper, sensor, and positioning unit, it streamlines your process like never before. And the #comissioning is easy – thanks to our ready-to-use PLC function blocks. 👍 Ideal for a range of gripping tasks, especially in robotic applications handling various sizes of workpieces or those situated in close proximity. #handinhandfortomorrow #robotics #robotapplication #pneumatics #schunk #schunkeasternadriaticregion

Arboreal environments challenge current robots but are deftly traversed by many familiar animal locomotors such as squirrels. We present a small, 450 g robot "Pinto" developed for tree-jumping, a behavior seen in squirrels but rarely in legged robots: jumping from the ground onto a vertical tree trunk. We develop a powerful and lightweight latched series-elastic actuator using a twisted string and carbon fiber springs. We consider the effects of scaling down conventional quadrupeds and experimentally show how storing energy in a parallel-elastic fashion using a latch increases jump energy compared to series-elastic or springless strategies. By switching between series and parallel-elastic modes with our latched 5-bar leg mechanism, Pinto executes energetic jumps as well as maintains continuous control during shorter bounding motions. We also develop sprung 2-DoF arms equipped with spined grippers to grasp tree bark for high-speed perching following a jump. Authors: Christopher Y. Xu, Huihan Yan, Justin K. Yim #robots #robotics #engineering #technology

The #Kinematic model of a mobile robot determines how wheel speeds correspond to robot velocities. In the next open class, you will learn the principles of #holonomic #kinematics and its applications in #robotics with the ROSbot XL developed by Husarion. Save the class link: https://ow.ly/2Q6j50QUnH8 Key points: - What are holonomic kinematics, and how can they be helpful for your robotics project - Modeling holonomic kinematics for real robot movement - Practical applications

The BionicWheelBot is inspired by the cartwheeling spider (Cebrennus rechenbergi) from the Erg Chebbi desert on the Sahara's edge, discovered by Professor Ingo Rechenberg in 2008. This spider can walk normally but also somersault and roll on the ground, making it twice as fast in rolling mode on flat terrain and allowing it to navigate both level and uneven surfaces efficiently. Prof. Rechenberg has been studying this spider to replicate its movement in technology, creating various terrain-capable robots. The BionicWheelBot, developed by Rechenberg and a bionics team, mimics the spider by forming wheels with its legs and using two additional legs to propel itself forward. This design allows it to move quickly and efficiently on rough terrain and handle uphill gradients of up to five percent. Credit: Festo #robotics #bionics #engineering #technology #festo

(2/2) Following-up on this work, we study the trotting behavior in sprawl-postured, rigid-bodied quadrupedal robotic systems in our second work titled “Geometrically Modulable Gait Design for Quadrupeds”: https://lnkd.in/giGK2D7F In this work, we increase the complexity of our system by offsetting the limbs to separate hip-joints to obtain a planar model of a rigid-quadrupedal robot. We demonstrate the following: To generate two-beat gaits like trotting, pinning any two feet results in a four-bar mechanism. In this subsystem, the squared inter-foot distance (scalar) field provides a natural way to couple motion of limbs that plant together. The periodic motion of the two limbs that plant together forms a subgait. The two subgaits when taken together and offset appropriately form the two-beat gait. But owing to their decoupled nature, they can be analyzed and controlled in isolation. We discover unique parameters that modulate these subgaits to generate different rotational and translational behaviors, and we provide geometric gain-schedules to do speed or direction control for the rigid quadrupedal system. These pin-constraint models do not require friction coefficients or system environment parameters to provide motion plans. The gain-schedules developed through this methodology can be directly adapted as open-loop motion plans for tiny-legged robots, thereby bringing them one-step closer to control autonomy. Code: https://lnkd.in/gEmuTtxu PDF: https://lnkd.in/gqVu9xp9 Video: https://lnkd.in/ghTUNN4E These works have been done in collaboration with Dr. Ross Hatton at OSU and form the first part of Hari Krishna Hari Prasad’s thesis. Currently he is working applying these tools to study the impact of body morphing on the locomotive capabilities of pin-constrained quadrupedal systems. #stratifiedpanels #nonsliplocomotion #principalfiberbundles #geometricmechanics #kinematics #localconnection #generalizedstokestheorem #totalliebracket #robotics #insectscalerobotics #geometricmotionplanning 

The gait schedules (cycle-averaged gain schedules) we implemented in this work are directly provided as Fourier-mode time series representations of the lift and swing actuation in our tiny quadrupeds. With some additional tuning of pacing, stance-swing phase duty cycles, and Raibert heuristics, we can obtain good open-loop plans! This tuning can be done manually or using trajectory optimization with actuation cost (https://lnkd.in/gsKjDGkw) penalization to make it more optimal. These plans can then be stored in memory and called upon need. They can further be robustified using onboard odometry-driven adaptations.

Yushins space saving and cleanroom suitable side entry SX-41 servo robot in action on the Sumitomo stand at Chinaplas. Hall 4.1, stand C32 #robotics #injectionmoulding #cleanroom

𝐑𝐞𝐝𝐞𝐟𝐢𝐧𝐢𝐧𝐠 𝐟𝐥𝐞𝐱𝐢𝐛𝐢𝐥𝐢𝐭𝐲 𝐰𝐢𝐭𝐡 𝐭𝐡𝐞 #𝐏𝐏𝐃 𝐟𝐨𝐫 𝐩𝐧𝐞𝐮𝐦𝐚𝐭𝐢𝐜 𝐠𝐫𝐢𝐩𝐩𝐞𝐫𝐬 Discover the versatility of our pneumatic positioning device PPD, which offers not just 𝐟𝐫𝐞𝐞 𝐩𝐨𝐬𝐢𝐭𝐢𝐨𝐧𝐢𝐧𝐠 but also 𝐚𝐝𝐣𝐮𝐬𝐭𝐚𝐛𝐥𝐞 𝐠𝐫𝐢𝐩𝐩𝐢𝐧𝐠 𝐟𝐨𝐫𝐜𝐞 and 𝐬𝐩𝐞𝐞𝐝 for all applications involving pneumatic grippers. Achieved through an effortless setup of gripper, sensor, and positioning unit, it streamlines your process like never before. And the #comissioning is easy – thanks to our ready-to-use PLC function blocks. 👍 Ideal for a range of gripping tasks, especially in robotic applications handling various sizes of workpieces or those situated in close proximity. Experience the difference with the PPD 👉 https://brnw.ch/21wIBAB 👈 #handinhandfortomorrow #robotics #robotapplication #pneumatics

Unleashing Innovation: Combining Robotic Arm and Robotic Dog Witness the future of robotics as we combine our advanced robotic arm with a state-of-the-art robotic dog. Our engineers are hard at work fine-tuning this innovative duo. Stay tuned for more exciting developments and see what they can achieve together! #RoboticArm #RoboticDog #Innovation #Engineering #FutureTech #Automation

Most mobile robots use wheels that perform well on even and structured ground, like in factories and warehouses. However, they face challenges traversing unstructured terrain such as stepped obstacles. This paper presents the design and testing of the PaTS-Wheel: a Passively-Transformable Single-part Wheel that can transform to render hooks when presented with obstacles. The passive rendering of this useful morphological feature is guided purely by the geometry of the obstacle. T. Godden, B. W. Mulvey, E. Redgrave and T. Nanayakkara, “PaTS-Wheel: A Passively-Transformable Single-Part Wheel for Mobile Robot Navigation on Unstructured Terrain Credit: Imperial College London #robotics #engineering #technology