Related papers: Self-Motions of General 3-RPR Planar Parallel Robo…
Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the…
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,…
General properties of the three-body problem in a model of modified dynamics are investigated. It is shown that the three-body problem in this model shares some characters with the similar problem in Newtonian dynamics. Moreover, the planar…
We investigate singularities of all parallel surfaces to a given regular surface. In generic context, the types of singularities of parallel surfaces are cuspidal edge, swallowtail, cuspidal lips, cuspidal beaks, cuspidal butterfly and…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
We explore the rigidity of generic frameworks in 3-dimensions whose underlying graph is close to being planar. Specifically we consider apex graphs, edge-apex graphs and their variants and prove independence results in the generic…
It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by choosing appropriate joint configurations for…
The results of our study of the motion of a three particle, self-gravitating system in general relativistic lineal gravity is presented for an arbitrary ratio of the particle masses. We derive a canonical expression for the Hamiltonian of…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
In this paper we consider the planar circular restricted three body problem (PCRTBP), which models the motion of a massless body under the attraction of other two bodies, the primaries, which describe circular orbits around their common…
The gravitational interaction is scale-free in both Newtonian gravity and general theory of relativity. The concept of self-similarity arises from this nature. Self-similar solutions reproduce themselves as the scale changes. This property…
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This task is high-dimensional and highly constrained owing to the…
Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…