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Chapter and Conference Paper
A Design Method of Multi-link Cable Driven Robots Considering the Rigid Structure Design and Cable Routing
Multi-link cable driven robots (MCDRs) have attracted much attention in recent years and have been widely used in complex working environments due to their inherent high compliance and flexibility. Although lo...
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Chapter and Conference Paper
Heuristic-Based Design Framework for the Cable Arrangement of Cable-Driven Parallel Robots
It is important that the design of cable arrangements for the cable-driven parallel robot (CDPR) is a systematic process. Not only because of the unique inherent characteristic of cables, such as unilateral fo...
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Chapter and Conference Paper
Real-World Development of a Cleaning CDPR for Primary Lamella Sedimentation Tanks
Lamella sedimentation tanks are more efficient than conventional sedimentation tanks in treating sewage water because of their low footprint and high efficiency by the inclusion of inclined plates. However, re...
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Chapter and Conference Paper
A Dual Joystick-Trackball Interface for Accurate and Time-Efficient Teleoperation of Cable-Driven Parallel Robots within Large Workspaces
There is an increasing number of applications (e.g. building construction and sport camera systems) for cable-driven parallel robots (CDPRs) due to its large workspace feature. Although the autonomous operatio...
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Chapter and Conference Paper
CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware
In this paper, the software platform CASPR-ROS is introduced to extend the author’s recently developed simulation platform CASPR. To the authors’ knowledge, no single software framework exists to implement dif...
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Chapter and Conference Paper
Initial Length and Pose Calibration for Cable-Driven Parallel Robots with Relative Length Feedback
Feedback of cable lengths is commonly used in the determination of the robot pose for cable-driven parallel robots (CDPRs). As such, accurate information on the absolute cable length is important. However, for mo...
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Chapter
Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts
Studies of computationally and analytically convenient approximations of rigid body dynamics have brought valuable insight into the field of humanoid robotics. Additionally, they facilitate the design of effec...
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Chapter and Conference Paper
Cable Function Analysis for the Musculoskeletal Static Workspace of a Human Shoulder
The study of cable function allows the particular cables towards generation of to determined for cable-driven manipulators (CDPMs). This study is fundamental in the understanding of the arrangement o...
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Chapter and Conference Paper
Smooth Path Planning around Elliptical Obstacles Using Potential Flow for Non-holonomic Robots
In this paper, an efficient path planning method for non-holonomic robots to avoid elliptical obstacles for RoboCup soccer matches is presented. A hydrodynamic flow field is formulated to model obstacles and t...
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Chapter and Conference Paper
On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators
Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisati...
