Related papers: A DH-parameter based condition for 3R orthogonal m…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
We derive an energy bound for inertial Hegselmann-Krause (HK) systems, which we define as a variant of the classic HK model in which the agents can change their weights arbitrarily at each step. We use the bound to prove the convergence of…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
A prioritized inverse kinematics (PIK) solution can be considered as a (regulation or output tracking) control law of a dynamical system with prioritized multiple outputs. We propose a method that guarantees that a joint trajectory…
Applying the techniques resulting the existence of almost invariant half-spaces, similarity models $\wh T$ can be given for upper triangular operator-matrices $T= \left[\begin{matrix}A&C\\ 0&B\end{matrix}\right]$. The model $\wh T$ is also…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
The importance of Schur complement based preconditioners are well-established for classical saddle point problems in $\mathbb{R}^N \times \mathbb{R}^M$. In this paper we extend these results to multiple saddle point problems in Hilbert…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
The property of linear discrete-time time-invariant system operators mapping inputs with at most $k-1$ sign changes to outputs with at most $k-1$ sign changes is investigated. We show that this property is tractable via the notion of…
We introduce PLIKS (Pseudo-Linear Inverse Kinematic Solver) for reconstruction of a 3D mesh of the human body from a single 2D image. Current techniques directly regress the shape, pose, and translation of a parametric model from an input…
We introduce a new class of mixed finite element methods for 2D and 3D compressible nonlinear elasticity. The independent unknowns of these conformal methods are displacement, displacement gradient, and the first Piola-Kirchhoff stress…
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initialized from neutral/rest configurations, often exhibit slow…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
We consider holographic three-point functions for operators dual to short string states at strong coupling in N=4 super Yang-Mills. We treat the states as point-like as they come in from the boundary but as strings in the interaction region…
In this paper, we investigate the dynamics of radial solutions at threshold energy for a 3-component Schr\"{o}dinger system with cubic nonlinearity in four dimensions. The main difference from the cases previously addressed in the…
This paper presents the open-source robot inverse kinematics (IK) solver IK-Geo, the fastest general IK solver based on published literature. In this unifying approach, IK for any 6-DOF all-revolute (6R) manipulator is decomposed into six…
We study skew-orthogonal polynomials with respect to the weight function $\exp[-2V(x)]$, with $V(x)=\sum_{K=1}^{2d}(u_{K}/{K})x^{K}$, $u_{2d} > 0$, $d > 0$. A finite subsequence of such skew-orthogonal polynomials arising in the study of…
Positivity, essential self-adjointness, and spectral properties of a class of Schroedinger operators with multipolar inverse-square potentials are discussed. In particular a necessary and sufficient condition on the masses of singularities…