We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. use cardiac surgery as focal application of this work. As such, we designed HARP to enter pericardial cavity subxiphoid port. The surgeon effectively reach remote intrapericardial locations on epicardium deliver therapeutic interventions under direct control. Reducing overall cross-sectional diameter mechanism was main...

Safe unmanned ground vehicle navigation in unknown rough terrain is crucial for various tasks such as exploration, search and rescue agriculture. Offline global planning often not possible when operating harsh, environments, therefore, online local must be used. Most planners require heavy computational resources, used optimal trajectory searching estimating orientation positions within the range of sensors. In this work, we present a deep reinforcement learning approach with zero-range to...

Construction site preparation tasks rely on experienced operators and heavy machinery for clearing debris, earthmoving, leveling, soil stabilization. These actions require complex collaboration between human teams to survey the site, estimate material condition, guide accordingly. In recent years there has been a critical labor shortage due increasing demands in construction. Integrating autonomous systems can mitigate this gap by replacing traditional methods with robotic solutions....

We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. use cardiac surgery as focal application of this work. As such, we designed HARP to enter pericardial cavity subxiphoid port. The surgeon effectively reach remote intrapericardial locations on epicardium deliver therapeutic interventions under direct control. Our device differs from others in conventional actuation still great...

Due to their high deformability, lightness, and safe interaction with the surrounding environment, flexible actuators are key ingredients in soft robotics technologies. Among these, electro-thermal (ETAs), based on carbon nanotubes (CNTs), used generate agile movements when current is applied. The extent of movement determined mostly by coefficient thermal expansion (CTE) materials arranged a bi-/tri-layer structure. However, CNT-based ETAs usually accomplish only simple actions limited...

In order to overcome the limitations of currently available assistive technologies for minimally invasive surgery (MIS), we have developed a novel highly articulated robotic probe (HARP) that can exploit its snake-like structure navigate in confined anatomical environment while interacting with along path. We believe procedures involving epicardial interventions on beating heart, cardiac MIS be effectively realized HARP, entering pericardial cavity through subxiphoid port, reaching remote...

We have developed a novel highly articulated robotic probe (HARP) that can thread through tightly packed volumes without disturbing the surrounding tissues and organs. use cardiac surgery as focal application of this work. As such, we designed HARP to enter pericardial cavity subxiphoid port. The surgeon effectively reach remote intrapericardial locations on epicardium deliver therapeutic interventions under direct control. Our device differs from others in conventional actuation still great...

This paper uses two symmetrical models, the passive compass-gait biped and a five-link 3-D biped, to computationally investigate cause function of gait asymmetry. We show that for range slope angles during 2-D walking mass distributions controlled walking, these models have asymmetric patterns between left right legs due phenomenon spontaneous symmetry-breaking. In both cases stable family gaits emerges from symmetric as total energy increases (e.g., fast speeds). The ground reaction forces...

We have developed a novel, highly articulated robotic surgical system to enable minimally invasive intrapericardial interventions through subxiphoid approach and performed preliminary tests of epicardial left atrial ablation in porcine (N = 3) human cadaver 2) preparations. In this study, the novel successfully provided safe ablations atrium beating heart models via approach. also complex guidance robot subsequent cadaveric preparation for successful pulmonary vein isolation.

Purpose The purpose of this paper is to describe a methodology for characterization the robot environment help solve such problem as designing an optimal agricultural specific task. Design/methodology/approach Defining and characterizing task crucial step in optimization task-specific robot. It especially difficult domain because complexity unstructured nature environment. In research, trees are modeled from orchards used working environment, geometrical features investigated method...

This paper presents a new method for designing an optimal harvesting agriculture manipulator. The novelty in our approach is the re-configurability of robot’s joints, i.e., ability to assemble given set joints variable order form different manipulators tasks. way, we provide farmer with change construction before each period achieve maximal use robot throughout year. efficiency task-based optimization demonstrated on apple and tangerine shown improve terms success harvest ratio time compared...

The ParkourBot climbs in a planar reduced-gravity vertical chute by leaping back and forth between the chute's two parallel walls. is comprised of body with springy legs its controls consist leg angles at touchdown energy stored them. During flight, robot stores elastic potential then converts this to kinetic touchdown, when it "kicks off" wall. This paper describes ParkourBot's mechanical design, modeling, open-loop climbing experiments. design makes use BowLeg, previously used for hopping...

Objective Minimally invasive epicardial atrial ablation to cure fibrillation through the use of a percutaneous subxiphoid approach currently has lack dedicated technology for intrapericardial navigation around beating heart. We have developed novel articulated robotic medical probe and performed preliminary experiments in porcine preparation. Methods In five large, healthy pigs, teleoperated system was introduced inside pericardial space approach. Secondary visualization left atrium...

A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This relies on its own internal motions gain height, unlike previous mechanisms are quasi- static. One benefit of dynamics that it allows with only a single actuated degree freedom. We show analysis, simulations and experiments this capable vertically introduce simplifications enable us obtain closed form approximations the motion. Furthermore, provides some design...

The ParkourBot is an efficient and dynamic climbing robot. robot comprises two springy legs connected to a body. Leg angle spring tension are independently controlled. climbs between parallel walls by leaping from one wall the other. During flight, stores elastic energy in its automatically releases "kick off" during touch down. This paper elaborates on mechanical design of ParkourBot. We use simple SLIP model simulate motion stability. Finally, we detail experimental results, open-loop...

This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in symmetric fashion using single actuator. mechanism achieves dynamic, vertical motion while retaining simplicity design and control. We explore the local orbital stability of mechanism. use Poincaré map method with well chosen section to simplify problem reducing dimension 3-dimensions. find stable regions varying controls input some mechanism's...

This work demonstrates a simple, once per step, flight-control method for robots running on planar unknown rough-terrain environment. The robot used to exemplify these control strategies is the ParkourBot, spring loaded inverted pendulum (SLIP)-based robot. SLIP model widely description of humans and animals motion has been basis many robots. A known scheme increasing robustness conservative, swing leg retraction (SLR) method. Despite SLR's popularity, it not intended be more realistic,...