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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.…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and…
The aim of this paper is to provide a discussion on current directions of research involving typical singularities of 3D nonsmooth vector fields. A brief survey of known results is presented. The main purpose of this work is to describe the…
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
We investigate the kinematics of deformations in two and three dimensional media by explicitly solving (analytically) the evolution equations (Raychaudhuri equations) for the expansion, shear and rotation associated with the deformations.…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Geometrical properties of three-body orbits with zero angular momentum are investigated. If the moment of inertia is also constant along the orbit, the triangle whose vertexes are the positions of the bodies, and the triangle whose…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…
The main objective of this paper is to introduce a new method for qualitative analysis of various designs of robot arms. To this end we define the complexity of a map, examine its main properties and develop some methods of computation. In…
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…