Open Access. Powered by Scholars. Published by Universities.®
- Publication
- Publication Type
Articles 1 - 4 of 4
Full-Text Articles in Entire DC Network
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
All Theses
The increasing deployment of robots in industries with varying tasks has accelerated the development of various control frameworks, enabling robots to replace humans in repetitive, exhaustive, and hazardous jobs. One critical aspect is the robots' interaction with their environment, particularly in unknown object-picking tasks, which involve intricate object weight estimations and calculations when lifting objects. In this study, a unique control framework is proposed to modulate the force exerted by a manipulator for lifting an unknown object, eliminating the need for feedback from a force/torque sensor. The framework utilizes a variable impedance controller to generate the required force, and an …
Research In Robotics: Vex Robotics, Dylan Wagner, Darec Wagner, Lyric Yost, Alexander Redinger, Yue Fan, Mark Hamrick, Mufeng Shen, Lawrence Yan
Research In Robotics: Vex Robotics, Dylan Wagner, Darec Wagner, Lyric Yost, Alexander Redinger, Yue Fan, Mark Hamrick, Mufeng Shen, Lawrence Yan
SACAD: John Heinrichs Scholarly and Creative Activity Days
Throughout the past year our group has been working toward the construction of a robot. Our goal with this robot was to compete in the competition laid out by VEX robotics. Our robot would be built using the VEX robotics pieces as well as some custom-made parts. We utilized the engineering design process to ensure that we were working as efficiently as possible, whilst also working towards making the greatest bot. The first semester had us split into two teams, with both going to Pittsburgh KS to compete against other universities from across the state. After this competition, we combined …
Advancements And Challenges In Additively Manufactured Functionally Graded Materials: A Comprehensive Review, Suhas Alkunte, Ismail Fidan, Vivekanand Naikwadi, Shamil Gudavasov, Mohammad Alshaikh Ali, Mushfig Mahmudov, Seymur Hasanov, Muralimohan Cheepu
Advancements And Challenges In Additively Manufactured Functionally Graded Materials: A Comprehensive Review, Suhas Alkunte, Ismail Fidan, Vivekanand Naikwadi, Shamil Gudavasov, Mohammad Alshaikh Ali, Mushfig Mahmudov, Seymur Hasanov, Muralimohan Cheepu
Engineering Technology Faculty Publications
This paper thoroughly examines the advancements and challenges in the field of additively manufactured Functionally Graded Materials (FGMs). It delves into conceptual approaches for FGM design, various manufacturing techniques, and the materials employed in their fabrication using additive manufacturing (AM) technologies. This paper explores the applications of FGMs in diverse fields, including structural engineering, automotive, biomedical engineering, soft robotics, electronics, 4D printing, and metamaterials. Critical issues and challenges associated with FGMs are meticulously analyzed, addressing concerns related to production and performance. Moreover, this paper forecasts future trends in FGM development, highlighting potential impacts on diverse industries. The concluding section summarizes …
Development Of A Two-Finger Haptic Robotic Hand With Novel Stiffness Detection And Impedance Control, Vahid Mohammadi, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, Ahad Behboodi
Development Of A Two-Finger Haptic Robotic Hand With Novel Stiffness Detection And Impedance Control, Vahid Mohammadi, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, Ahad Behboodi
Mechanical & Aerospace Engineering Faculty Publications
Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive …