Design of a Robotic Gripper Based on a Psittacus Erithacu Beak

2012 ◽  
Author(s):  
Alex W. Grammar ◽  
Robert L. Williams
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Large Range ◽  
Robotic Manipulators ◽  
African Grey Parrot ◽  
Beak Shape ◽  
Grey Parrot ◽  
Low Degrees ◽  
Application Specific ◽  
Single Part

A high versatility, low degrees-of-freedom (DOF) gripper was designed based on avian morphology. Grasping mechanisms for robotic manipulators are often developed for application-specific tasks, such as manipulating a single part or performing a repetitive action. In contrast, more dexterous grippers are complex, multiple-DOF mechanisms. A simple, minimal-DOF, versatile gripper has been developed based on the morphology of the Psittacus Erithacu (African Grey Parrot) beak shape. This species is highly intelligent and uses its beak for digging, gripping, climbing, and foraging. Giving a robot a similar capability would allow the platform to pick up targets such as single, small seeds, liquids, large irregular rocks and soft Robocup style balls. By using the beak as a model for a grasping mechanism the design maintains its versatility without the need for a complex system and allows a large range of targets to be gripped. This gripper is intended for use in the new open-source humanoid robot DARwIn-OP.

Design of a Human-Like Range of Motion Hip Joint for Humanoid Robots

2014 ◽  
Author(s):  
Bryce Lee ◽  
Coleman Knabe ◽  
Viktor Orekhov ◽  
Dennis Hong
Keyword(s):  
Range Of Motion ◽  
Hip Joint ◽  
Disaster Response ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Large Range ◽  
Humanoid Robots ◽  
Linkage Mechanism ◽  
Joint Torques ◽  
Similar Range

For a humanoid robot to have the versatility of humans, it needs to have similar motion capabilities. This paper presents the design of the hip joint of the Tactical Hazardous Operations Robot (THOR), which was created to perform disaster response duties in human-structured environments. The lower body of THOR was designed to have a similar range of motion to the average human. To accommodate the large range of motion requirements of the hip, it was divided into a parallel-actuated universal joint and a linkage-driven pin joint. The yaw and roll degrees of freedom are driven cooperatively by a pair of parallel series elastic linear actuators to provide high joint torques and low leg inertia. In yaw, the left hip can produce a peak of 115.02 [Nm] of torque with a range of motion of −20° to 45°. In roll, it can produce a peak of 174.72 [Nm] of torque with a range of motion of −30° to 45°. The pitch degree of freedom uses a Hoeken’s linkage mechanism to produce 100 [Nm] of torque with a range of motion of −120° to 30°.

Statics Analysis of Clemen’s Linkage for Robotic Applications

2013 ◽  
Author(s):  
Derek Lahr ◽  
Dennis Hong
Keyword(s):  
Range Of Motion ◽  
Constant Velocity ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Robotic Manipulators ◽  
Electromechanical Actuators ◽  
Serial Manipulators ◽  
Torque Capacity ◽  
Multiple Actuators ◽  
Robotic Applications

Robotic manipulators can be categorized as either parallel, serial, or in some cases a combination of the two. Among others, a notable drawback of serial manipulators in dynamic applications is the large inertia created by typically heavy electromechanical actuators at the distal end of the manipulator. In addition, compact packaging of multiple actuators in a multi-degree of freedom (DOF) joint, as is often necessary with serial manipulators, can be difficult. These difficulties can be alleviated should a means be found to relocate actuators across one or more degrees of freedom. In this paper, we investigate a constant velocity (CV) linkage, the Clemen’s linkage, that may be used to relocate an actuator across a one DOF revolute joint to an adjacent link while maintaining a serially actuated architecture. This can be very advantageous in some applications such as a humanoid robot ankle. The linkage is analyzed for both its range of motion and torque capacity for such applications given limitations of currently available bearing hardware.

Fibrosarcoma in an African Grey Parrot (Psittacus erithacus)

1983 ◽  
Vol 27 (2) ◽  
pp. 549 ◽  
Author(s):  
C. Riddell ◽  
P. H. Cribb
Keyword(s):  
African Grey Parrot ◽  
Psittacus Erithacus ◽  
Grey Parrot

scholarly journals Anatomy, variation, and asymmetry of the bronchial tree in the African grey parrot ( Psittacus erithacus )

2021 ◽  
Author(s):  
Adam B. Lawson ◽  
Brandon P. Hedrick ◽  
M. Scott Echols ◽  
Emma R. Schachner
Keyword(s):  
Bronchial Tree ◽  
African Grey Parrot ◽  
Psittacus Erithacus ◽  
Grey Parrot

Penicilliosis in an African Grey Parrot (Psittacus erithacus)

2011 ◽  
Vol 42 (2) ◽  
pp. 309-312 ◽  
Author(s):  
Giovanni Lanteri ◽  
Alessandra Sfacteria ◽  
Daniele Macrì ◽  
Stefano Reale ◽  
Fabio Marino
Keyword(s):  
African Grey Parrot ◽  
Psittacus Erithacus ◽  
Grey Parrot

Brain Ependymoma in an African Grey Parrot (Psittacus erithacus erithacus)

2021 ◽  
Vol 35 (1) ◽  
Author(s):  
Anaïs Sailler ◽  
Maïa Vanel ◽  
Sylvain Larrat ◽  
Emmanuel Risi
Keyword(s):  
African Grey Parrot ◽  
Psittacus Erithacus ◽  
Grey Parrot

scholarly journals Planning Fail-Safe Trajectories for Space Robotic Arms

2021 ◽  
Vol 8 ◽  
Author(s):  
Oliver Porges ◽  
Daniel Leidner ◽  
Máximo A. Roa
Keyword(s):  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Robotic Manipulators ◽  
Task Completion ◽  
Joint Failure ◽  
Space Applications ◽  
Robotic Arms ◽  
Hazardous Environments ◽  
Potential Risks ◽  
Fail Safe

A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critical for instance for space applications. This paper describes methods to analyze potential risks due to a joint failure, and introduces tools for fault-tolerant task design and path planning for robotic manipulators. The presented methods are based on off-line precomputed workspace models. The methods are general enough to cope with robots with any type of joint (revolute or prismatic) and any number of degrees of freedom, and might include arbitrarily shaped obstacles in the process, without resorting to simplified models. Application examples illustrate the potential of the approach.

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