Related papers: Mod\'elisation Dynamique d'un Robot Parall\`ele \`…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances)…
This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
Ordinary differential equations (ODEs) provide a powerful framework for modeling dynamic systems arising in a wide range of scientific domains. However, most existing ODE methods focus on a single system, and do not adequately address the…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
The objective of this work is to design a mechatronic bipedal robot with mobility in 3D environments. The designed robot has a total of six actuated degrees of freedom (DoF), each leg has two DoF located at the hip: one for…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with…
Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…
Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…