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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Six Degree of Freedom Robotic Arm with Mimicking Mechanism
Param Kothari · 2020-11-06 · via cs.RO updates on arXiv.org

Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years the design, fabrication and development of robotic arms have been active research areas in robotics all around the world. This project describe a mechanical system, design concept and prototype implementation of a 6 DOF robotic arm, which should perform industrial task such as pick and place of fragile objects operation. This robot arm being controlled by micro-controller has base, shoulder, elbow, wrist rotation and a functional gripper. Gripper has been built as end-effector and is capable of grasping diverse objects within own workspace of the arm possible. I made an effort to endeavour one of the best model possible out of the three concepts tried. The three concepts that I undertook were dependent on the type of mechanism used to provide the movement. The first concept was to provide the movement with the help of Pneumatics. The idea of pneumatics did provide a feasible movement but I had to overcome the barrier of the weight as the weight of either the storage of gas or the air compressor would have affected the usage evidently. Similarly, in the second concept, I dealt with the forces of Hydraulics. The forces exerted by hydraulics, not only restricted the movement, but also annexed a certain amount of delay in the time period in which the movement had to be done. In, the third concept, I tried to provide the necessary movement with the help of Servo Motors. The results achieved with servo motors in replacement of pneumatics and hydraulics were impeccable. The motors not only provided the movement with minimal lag but also did not impede the movement of the hand.