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Variable-gain control for continuum robots based on velocity sensitivity 期刊论文
Mechanism and Machine Theory, 2022, 卷号: 168, 页码: 1-17
Authors:  Zhang, Xu;  Liu, Yue;  Branson, David T.;  Yang CH(杨铖浩);  Dai JS(戴建生);  Kang RJ(康荣杰)
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Continuum robot  Kinematic model  Variable gain control  Velocity sensitivity  
面向非合作目标的柔性捕获器设计与动力学建模 期刊论文
天津大学学报(自然科学与工程技术版), 2022, 卷号: 55, 期号: 2, 页码: 174-183
Authors:  康荣杰;  周永翔;  杨铖浩
Adobe PDF(2512Kb)  |  Favorite  |  View/Download:9/0  |  Submit date:2021/12/31
非合作目标捕获  臂群捕获  柔性臂动力学  结构设计  
Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets 期刊论文
CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2021, 卷号: 34, 期号: 1, 页码: 1-13
Authors:  Yang, Jiankun;  Ren, Chengwei;  Yang, Chenghao;  Wang, Youyu;  Wan, Shumin;  Kang RJ(康荣杰)
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Non-cooperative targets  Continuum arm group  Wire-driven mechanism  
丝驱动连续型机器人的建模与避障控制 期刊论文
天津大学学报(自然科学与工程技术版), 2021, 卷号: 54, 期号: 6, 页码: 651-660
Authors:  康荣杰;  刘跃;  耿仕能;  杨铖浩
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连续型机器人  运动学  动力学  零空间  避障  
Geometric constraint-based modeling and analysis of a novel continuum robot with Shape Memory Alloy initiated variable stiffness 期刊论文
International Journal of Robotics Research, 2020, 卷号: 39, 期号: 14, 页码: ‏ 1620-1634
Authors:  Yang CH(杨铖浩);  Geng SN(耿仕能);  Walker, Ian;  Branson, David T;  Liu JG(刘金国);  Dai JS(戴建生);  Kang RJ(康荣杰)
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Soft continuum robot  variable stiffness  statics model  geometric constraint  
Kinematics and statics of eccentric soft bending actuators with external payloads 期刊论文
Mechanism and Machine Theory, 2019, 卷号: 139, 页码: 526-541
Authors:  Yang CH(杨铖浩);  Kang RJ(康荣杰);  Branson, David T.;  Chen LS( 陈丽莎);  Dai JS(戴建生)
Adobe PDF(3360Kb)  |  Favorite  |  View/Download:178/37  |  Submit date:2019/06/18
Eccentric soft bending actuators  Screw theory  Statics model  Parameters optimization