柔性连续体分拣机器人的拓扑综合、动力学分析和运动控制

91648103
2016
E0501.机器人与机构学
徐凯
重大研究计划
教授
上海交通大学
70万元
弹性动力学;构件柔性;柔性机器人;可变形体
2017-01-01到2019-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Reach-to-Grasp Planning for a Synergy-Controlled Robotic Hand Based on Grasp Quality Prediction 会议论文 Liu Zenghui;Wu Zhonghao;Dong Tianlai;Zhu Xiangyang;Xu Kai
2 Design and Validation of Multi-Layer Brakes for a Lockable Stand for a Surgical Robotic System 会议论文 Dong Tianlai;Chen Yuyang;Zeng Lingyun;Liu Zenghui;Xu Kai
3 多杆连续体机构:构型与应用 期刊论文 Xu Kai;Liu Huan
4 Continuum Manipulator with Redundant Backbones and Constrained Bending Curvature for Continuously Variable Stiffness 会议论文 Zhao Bin;Zhang Weihao;Zhang Zhaoyu;Zhu Xiangyang;Xu Kai
5 Dimension Reduced Instantaneous Inverse Kinematics for Configuration Variable Limits of Continuum Manipulators 会议论文 Wu Zhonghao;Yang Haozhe;Liu Xu;Xu Kai
6 Configuration Transition Control of a Continuum Surgical Manipulator for Improved Kinematic Performance 期刊论文 Zhang Shu'an;Li Qi;Yang Haozhe;Zhao Jiangran;Xu Kai
7 CombX: Design and Experimental Characterizations of a Haptic Device for Surgical Teleoperation 期刊论文 Zhao Bin;Zhang Shu'an;Wu Zhonghao;Yang Bo;Xu Kai
8 Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study 期刊论文 Xu Kai;Liu Huan;Zhang Zhaoyu;Zhu Xiangyang
9 2018 IEEE International Conference on Robotics and Biomimetics Best Student Paper Finalist 奖励 Zhang Zhaoyu;Wu Zhonghao;Zeng Lingyun;Zhang Weihao;Xu Kai
10 Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool with Decoupled Kinematics 期刊论文 Wu Zhonghao;Li Qi;Zhao Jiangran;Gao Jiangping;Xu Kai
11 A Continuum Manipulator for Continuously Variable Stiffness and Its Stiffness Control Formulation 期刊论文 Zhao Bin;Zeng Lingyun;Wu Zhonghao;Xu Kai
12 CombX: Design of a Haptic Device for Teleoperation 会议论文 Zhao Bin;Zhang Shu'an;Wu Zhonghao;Li Qi;Xu Kai
13 Model-based estimation of the gravity-loaded shape and scene depth for a slim 3-actuator continuum robot with monocular visual feedback 会议论文 Chen Yuyang;Zhang Shu'An;Zeng Lingyun;Zhu Xiangyang;Xu Kai
14 CurviPicker: a continuum robot for pick-and-place tasks 期刊论文 Yang Zhixiong;Zhao Bin;Bo Liang;Zhu Xiangyang;Xu Kai
15 Design of a Sliding-Pin Needle Driver for a Continuum Surgical Robot 会议论文 Zhang Zhaoyu;Wu Zhonghao;Zeng Lingyun;Zhang Weihao;Xu Kai
16 FABRIKc: an Efficient Iterative Inverse Kinematics Solver for Continuum Robots 会议论文 Zhang Weihao;Yang Zhixiong;Dong Tianlai;Xu Kai
17 A Single-Actuator Gripper with a Working Mode Switching Mechanism for Grasping and Rolling Manipulation 会议论文 Liu Huan;Zhang Zhaoyu;Dong Tianlai;Zhu Xiangyang;Xu Kai
18 Kinematic Optimization of a Continuum Surgical Manipulator 会议论文 Zhang Shu'an;Chen Yuyang;Li Qi;Zhao Bin;Xu Kai
19 Design of a Cable Driven Floating Robotic Arm with Continuum Joints 会议论文 Wu Zhonghao;Cederle Marco;Giani Elisa Rosalinda;Xu Kai
20 2019 IEEE International Conference on Robotics and Biomimetics Best Paper Finalist 奖励 Wu Zhonghao;Yang Haozhe;Liu Xu;Xu Kai
21 Composed continuum mechanism for compliant mechanical postural synergy: An anthropomorphic hand design example 期刊论文 Xu Kai;Liu Zenghui;Zhao Bin;Liu Huan;Zhu Xiangyang
22 Design of a Haptic Master Device for Teleoperation Applications 会议论文 Kai Xu;Bin Zhao;Shu'an Zhang;Zhaoyu Zhang;Nianzeng Xing
23 A robotic laparoscopic tool with enhanced capabilities and modular actuation 期刊论文 Dai ZhengChen;Wu ZhongHao;Zhao JiangRan;Xu Kai
24 A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors 会议论文 Wu Baibo;Zeng Lingyun;Zheng Yang;Zhang Shu'an;Zhu Xiangyang;Xu Kai
25 Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy 会议论文 Li Qi;Yang Haozhe;Chen Yuyang;Xu Kai
26 Continuum Delta Robot: a Novel Translational Parallel Robot with Continuum Joints 会议论文 Yang Zhixiong;Zhu Xiangyang;Xu Kai
27 Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator 会议论文 Zeng Lingyun;Liu Xu;Zheng Yang;Xu Kai
28 An Insertable Low-Cost Continuum Tool for Shape Sensing 会议论文 Xu Kai;Chen Yuyang;Zhang Zhaoyu;Zhang Shu'an;Xing Nianzeng;Zhu Xiangyang
29 Preliminary Development of a Continuum Dual-Arm Surgical Robotic System for Transurethral Procedures 会议论文 Xu Kai;Liang Bo;Dai Zhengchen;Zhao Jiangran;Zhao Bin;Liu Huan;Xiao Liang;Sun Yinghao
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