ORCID Profile
0000-0003-2283-5079
Current Organisation
Curtin University
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Electrical and Electronic Engineering | Control Systems, Robotics and Automation
Publisher: ASME International
Date: 02-03-2011
DOI: 10.1115/1.4003414
Abstract: This paper presents a novel multifingered hand with an articulated palm that makes the hand adaptable and reconfigurable. The posture of the new multifingered hand is enhanced by the additional motion of the palm and the workspace of fingers is augmented by the palm workspace. To analyze this integrated workspace, this paper introduces finger-operation planes to relate the finger motion to the palm motion and its configuration. Normals of these operation planes are used to construct a Gauss map. Adding an additional dimension, a four-dimensional ruled surface can be generated from this map to illustrate variation of posture. With the change of palm configurations, a posture manifold can be developed from the posture ruled surfaces. The workspace analysis is developed by introducing a palm workspace-triangle. This workspace-triangle evolves into a helical workspace-triangle tube when palm inputs vary and further develops into a four-dimensional presentation. This progresses into a set of workspaces of the multifingered hand by varying the palm configuration, leading to a larger workspace of the new multifingered hand as the union of the workspaces corresponding to in idual palm configuration. This paper further investigates manipulability of the multifingered hand by modeling the contact point as a hypothetical spherical joint. Based on reciprocity relationship of screw systems, the finger Jacobian matrices and the hand Jacobian matrix are established. With singular value decomposition, manipulability of each finger is explored and the hand manipulability is revealed by the diagonal nature of the Jacobian matrix of the hand.
Publisher: Elsevier BV
Date: 2018
Publisher: WORLD SCIENTIFIC (EUROPE)
Date: 03-2020
DOI: 10.1142/Q0249
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2009
Publisher: ASMEDC
Date: 2011
Abstract: This paper investigates simultaneous localization and mapping (SLAM) problem by exploiting the Microsoft Kinect™ sensor array and an autonomous mobile robot capable of self-localization. The combination of them covers the major features of SLAM including mapping, sensing, locating, and modeling. The Kinect™ sensor array provides a dual camera output of RGB, using a CMOS camera, and RGB-D, using a depth camera. The sensors will be mounted on the KCLBOT, an autonomous nonholonomic two wheel maneuverable mobile robot. The mobile robot platform has the ability to self-localize and preform navigation maneuvers to traverse to set target points using intelligent processes. The target point for this operation is a fixed coordinate position, which will be the goal for the mobile robot to reach, taking into consideration the obstacles in the environment which will be represented in a 3D spatial model. Extracting the images from the sensor after a calibration routine, a 3D reconstruction of the traversable environment is produced for the mobile robot to navigate. Using the constructed 3D model the autonomous mobile robot follows a polynomial-based nonholonomic trajectory with obstacle avoidance. The experimental results demonstrate the cost effectiveness of this off the shelf sensor array. The results show the effectiveness to produce a 3D reconstruction of an environment and the feasibility of using the Microsoft Kinect™ sensor for mapping, sensing, locating, and modeling, that enables the implementation of SLAM on this type of platform.
Publisher: ASME International
Date: 08-10-2014
DOI: 10.1115/1.4028094
Abstract: This paper describes the AmBot, a centipede-inspired hibious robot for monitoring the Swan-Canning River, the most important estuary system in Western Australia. The major challenge in developing such a robot lies in that the limited physical size of the robot allows only one type of propulsion system to be used both on land and on water. This is in contrast to large hibious robots that use wheels or track systems when on land and switch to propellers when on water. The focus of this paper is on the design of a single propulsion method suited to a small-sized hibious robot. To achieve this, centipede-inspired tracks were engineered with each track-piece consisting of an aluminum base and a polystyrene-block float. It was hypothesized that tracks fixed with floats might be able to provide effective actuation both on land and on water for small-sized robots. When on water, the tracks provide propulsion force and buoyancy so that the waterline is well controlled. When on land, the tracks effectively spread the contact force across multiblocks, leading to effective actuation and low pressure on the sandy terrain, hence protecting the beach ecosystem. Finite element analysis (FEA) was applied to optimize the main components of the AmBot for weight reduction without sacrificing functionality and safety. The AmBot uses an Android-based remote-control system via the Internet, where the accelerometer, gyroscope, global positioning system (GPS), and camera on the Android device provide integrated navigation and monitoring sensing. A prototype was developed to validate the proposed design by conducting empirical studies.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2017
Publisher: ASME International
Date: 16-09-2009
DOI: 10.1115/1.3212679
Abstract: A circular surface with a fixed radius can be swept out by moving a circle with its center following a curve, which acts as the spine curve. Based on a system of Euclidean invariants, the paper identifies those circular surfaces taking lines of curvature as generating circles and further explores the properties of the principal curvatures and Gaussian curvature of the tangent circular surfaces. The paper then applies the study to mechanism analysis by proving the necessary and sufficient condition for a circular surface to be generated by a serially connected C′R, HR, or RR mechanism, where C′ joint can be visualized as a special H joint with a variable pitch of one degree of freedom. Following the analysis, this paper reveals for the first time the relationship between the invariants of a circular surface and the commonly used D-H parameters of C′R, HR, and RR mechanisms.
Publisher: ASMEDC
Date: 2010
Abstract: This paper investigates the motion and constraint ruled surfaces of the Schatz linkage by examining their geometric characteristics based on screw system analysis. The paper starts by revealing two assembly configurations in accordance with previous literature and examines the cycle phases of the coupler link. This leads to analysis of the motion ruled surface generated by the directrix along the coupler link with Euclidean invariants. The paper further investigates the screw system and its corresponding reciprocal screw and generates the constraint ruled surface in studying its geometry. The study is based on Euclidean invariants and presents intrinsic characteristics between motion and constraint rules surfaces and geometric parameters, revealing the special property of the Schatz linkage.
Publisher: IEEE
Date: 12-2011
Publisher: IEEE
Date: 05-2009
Publisher: American Society of Mechanical Engineers
Date: 12-08-2012
Abstract: A moving object has three rotational degrees of freedom with respect to the fixed one when the two objects maintain rolling contact. Thus three kinematic inputs are considered necessary for the moving object to follow a trajectory described by its velocity profile as function of time. This paper formulates the problem as a system of three nonlinear equations and reduces it to solving a polynomial of degree six with one variable. This leads to fast and accurate numerical approximations of roots on a computer either by commercial software or open-source software. This polynomial formulation is different from previous ones that require solving a system of nonlinear ordinary differential equations.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2019
Publisher: Chinese Journal of Mechanical Engineering
Date: 2008
Publisher: SAGE Publications
Date: 15-07-2014
Abstract: This paper applies Euclidean invariants from differential geometry to kinematic properties of the ruled surfaces generated by the coupler link and the constraint-screw axes. Starting from investigating the assembly configuration, the work reveals two cycle phases of the coupler link when the input link finishes a full rotation. This leads to analysis of the motion ruled surface generated by the directrix along the coupler link, where Euclidean invariants are obtained and singularities are identified. This work further presents the constraint ruled surface that is generated by the constraint screw axes and unveils its intrinsic characteristics.
Publisher: Springer International Publishing
Date: 27-07-2017
Publisher: Elsevier BV
Date: 03-2015
Publisher: IEEE
Date: 06-2014
Publisher: Science Publishing Group
Date: 2015
Publisher: ASME International
Date: 13-06-2014
DOI: 10.1115/1.4027759
Abstract: The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2010
Publisher: Elsevier BV
Date: 05-2018
Publisher: ASME International
Date: 11-2015
DOI: 10.1115/1.4029498
Abstract: Rolling contact has been used by robotic devices to drive between configurations. The degrees of freedom (DOFs) of rolling contact pairs can be one, two, or three, depending on the geometry of the objects. This paper aimed to derive three kinematic inputs required for the moving object to follow a trajectory described by its velocity profile when the moving object has three rotational DOFs and thus can rotate about any axis through the contact point with respect to the fixed object. We obtained three contact equations in the form of a system of three nonlinear algebraic equations by applying the curvature theory in differential geometry and simplified the three nonlinear algebraic equations to a univariate polynomial of degree six. Differing from the existing solution that requires solving a system of nonlinear ordinary differential equations, this polynomial is suitable for fast and accurate numerical root approximations. The contact equations further revealed the two essential parts of the spin velocity: The induced spin velocity governed by the geometry and the compensatory spin velocity provided externally to realize the desired spin velocity.
Publisher: ASMEDC
Date: 2011
Abstract: Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove® as the input device for telemanipulating an object with the thumb and the index finger of the Shadow® Dexterous Hand™, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through experiments conducted on the Shadow Hand that the calibration of tip position alone can lead to unacceptable grasping postures. This paper develops an experiment protocol and proposes a nonlinear optimization formulation that makes the normals of the surfaces of the thumb and index fingertips within the friction cone while subject to fingertip position constraint. The results are verified to be accurate enough to conduct the telemanipulation.
Publisher: Cambridge University Press (CUP)
Date: 26-10-2018
DOI: 10.1017/S0263574717000406
Abstract: Ankle inversion is a common injury of musculoskeletal system among athletes and also in the older population. Investigation into ankle inversion requires quantitative assessment of the smallest amount of height/angle change in the floor that can be perceived by human. Blocks of different thickness have been used to change floor height manually during tests. We aimed to develop an automatic apparatus that is able to provide improved height and angle resolutions for dynamic ankle proprioception. We designed and manufactured a five-bar planar robot with one coupler serving as the mobile platform. We used a stiffening rib to achieve consistent differences in deflection across the workspace of the mobile platform. The reported robot translates at the maximal speed 423 mm/s with a resolution at 0.21 mm under a maximal load of 358 kg. This robot allows for increased sensitivity, which may lead to further investigation of functional proprioceptive ability and reflect finely tuned sensory requirements for upright stance.
Publisher: ASMEDC
Date: 2010
Abstract: This paper investigates kinematics of the metamorphic multifingered robotic hand based on screw system analysis and singular value decomposition. The paper integrates the singular value decomposition with screw system and generates the reciprocity-based Jacobian matrices of a multifingered hand. This leads to the geometric constraint equation of the articulated palm as the typical feature of this robotic hand and to the kinematics characteristics equation of the hand. Symbolic singular values of the sub-matrices are derived and applied to obtaining analytical solution to inverse kinematics. The singular value decomposition helps identifying finger displacement and velocity with effect from the articulated palm and extra degrees of freedom are examined with the singular value analysis to avoid the singularities.
Publisher: ASME International
Date: 03-07-2012
DOI: 10.1115/1.4006187
Abstract: With a new type of multifingered hands that raise a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehensive mathematical model of the hand with a reconfigurable palm which integrates all finger motions with the additional palm motion. Singular values of the partitioned Jacobian matrix in their analytical form are derived and applied to obtaining analytical solution to inverse kinematics of a complete robotic hand. The paper for the first time solves this integrated motion and the multifingered hand model with the singular value decomposition and extra degrees of freedom are examined with the singular value analysis to avoid the singularities. The work identifies finger displacement and velocity with effect from the articulated palm and presents a new way of analyzing a multifingered robotic hand.
Publisher: ASME International
Date: 22-06-2018
DOI: 10.1115/1.4040486
Abstract: Exoskeletons can assist wearers to relearn natural movements when attached to the human body. However, most current devices are bulky and heavy, which limit their application. In this paper, we integrated type and dimensional synthesis to design one degree-of-freedom (DOF) linkages consisting of only revolute joints with multiple output joints for compact exoskeletons. Type synthesis starts from a four-bar linkage where the output link generates the first angular output. Then, an RRR dyad is connected to the four-bar linkage for the second angular output while ensuring that the overall DOF of the new mechanism is 1. A third output joint is added in a similar manner. During each step, dimensional synthesis is formulated as a constrained optimization problem and solved via genetic algorithms. In the first case study, we developed a finger exoskeleton based on a 10-bar-13-joint linkage for a natural curling motion. The second case study presents a leg exoskeleton based on an 8-bar-10-joint linkage to reproduce a natural walking gait at the hip and knee joints. We manufactured the exoskeletons to validate the proposed approach.
Publisher: ASMEDC
Date: 2007
Abstract: In this paper a complete system of Euclidean invariants is presented to study circular surfaces with fixed radius. The study of circular surfaces is simplified to the study of two curves: the spherical indicatrix of the unit normals of circle planes and the spine curve. After the geometric meanings of these Euclidean invariants are explained, the distribution parameter of a circular surface is defined. If the value of the distribution parameter of a circular surface is 0, the circular surface is a sphere. Then the relationship between the moving frame {E1, E2, E3} and the Frenet frame {t, n, b} of the spine curve is investigated, and the expressions of the curvature and torsion of the spine curve are obtained based on these Euclidean invariants. The fundamental theorem of circular surfaces is first proved. Next the first and second fundamental forms of circular surfaces are computed. The last part of this paper is devoted to constraint circular surfaces. The sufficient and necessary condition for a general circular surface to be one that can be generated by a series-connected C’R, HR, RR, or PR mechanism is proved.
Publisher: IEEE
Date: 09-2017
Publisher: ASME International
Date: 19-07-2011
DOI: 10.1115/1.4004225
Abstract: This paper investigates the 6R overconstrained mechanisms by looking at an arrangement that axes intersect at two centers with arbitrary intersection-angles. From the close-loop matrix equation of the mechanism, the paper develops a set of geometric constraint equations of the 6R double-centered overconstrained mechanisms. This leads to the axis constraint equation after applying the Sylvester’s dialytic elimination method. The equation reveals the geometric constraint of link and axis parameters and identifies three categories of the 6R double-centered overconstrained mechanisms with arbitrary axis intersection-angles. The first two categories present two 6R double-centered overconstrained mechanisms and a 6R spherical mechanism. The last category evolves into the 6R double-spherical overconstrained mechanism with arbitrary axis intersection-angles at each spherical center. This further evolves into Baker’s double-Hooke mechanism and his derivative double-spherical mechanism with orthogonal axis intersection. The paper further develops the joint-space solution of the 6R double-centered overconstrained mechanisms based on the geometric constraint equation and verifies the result with a numerical ex le.
Publisher: Chinese Journal of Mechanical Engineering
Date: 07-2015
Location: United Kingdom of Great Britain and Northern Ireland
Start Date: 2017
End Date: 2019
Funder: Australian Research Council
View Funded ActivityStart Date: 2017
End Date: 06-2021
Amount: $360,000.00
Funder: Australian Research Council
View Funded Activity