Related papers: A Comparative Study between Two Three-DOF Parallel…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
The advancements in additive manufacturing (AM) technology have allowed for the production of geometrically complex parts with customizable designs. This versatility benefits large-scale space-frame structures, as the individual design of…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
We develop algorithms built around properties of the transfer operator and Koopman operator which 1) test for possible multiscale dynamics in a given dynamical system, 2) estimate the magnitude of the time-scale separation, and finally 3)…
Deep spatiotemporal models are used in a variety of computer vision tasks, such as action recognition and video object segmentation. Currently, there is a limited understanding of what information is captured by these models in their…
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
A novel first-order moving-average model for analyzing time series observed at irregularly spaced intervals is introduced. Two definitions are presented, which are equivalent under Gaussianity. The first one relies on normally distributed…
Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-skeleton systems. Tensegrity mechanisms are more difficult to…
The slow microstructural evolution of materials often plays a key role in determining material properties. When the unit steps of the evolution process are slow, direct simulation approaches such as molecular dynamics become prohibitive and…
We analyze two- and three-link planar snake-like locomotion and optimize the motion for efficiency. The locomoting system consists of two or three identical inextensible links connected via hinge joints, and the angles between the links are…
A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The…
We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…
Mobile robot motion planners rely on theoretical models to predict how the robot will move through the world. However, when deployed on a physical robot, these models are subject to errors due to real-world physics and uncertainty in how…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…
Analytical formulas for effective drift, diffusivity, run times, and run lengths are derived for an intracellular transport system consisting of a cargo attached to two cooperative but not identical molecular motors (for example, kinesin-1…
A direct numerical simulation of the three-dimensional elektrokinetic instability near a charge selective surface (electric membrane, electrode, or system of micro-/nanochannels) is carried out and analyzed. A special finite-difference…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness).…