Related papers: Comparison of Planar Parallel Manipulator Architec…
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…
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…
Post-training of LLMs with RLHF, and subsequently preference optimization algorithms such as DPO, IPO, etc., made a big difference in improving human alignment. However, all such techniques can only work with a single (human) objective. In…
Optimal multiple sequence alignment by dynamic programming, like many highly dimensional scientific computing problems, has failed to benefit from the improvements in computing performance brought about by multi-processor systems, due to…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
Solving optimization problems with parallel algorithms has a long tradition in OR. Its future relevance for solving hard optimization problems in many fields, including finance, logistics, production and design, is leveraged through the…
It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The proposed…
Particle accelerators are invaluable tools for research in the basic and applied sciences, in fields such as materials science, chemistry, the biosciences, particle physics, nuclear physics and medicine. The design, commissioning, and…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Benson's outer approximation algorithm and its variants are the most frequently used methods for solving linear multiobjective optimization problems. These algorithms have two intertwined components: one-dimensional linear optimization one…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
A homotopy method for multi-objective optimization that produces uniformly sampled Pareto fronts by construction is presented. While the algorithm is general, of particular interest is application to simulation-based engineering…