Related papers: Cuspidal Robots
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible…
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…
Given a reconfigurable system X, such as a robot moving on a grid or a set of particles traversing a graph without colliding, the possible positions of X naturally form a cubical complex S(X). When S(X) is a CAT(0) space, we can explicitly…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
We study the geometry of cuspidal $S_k$ singularities in $\mathbb R^3$ obtained by folding generically a cuspidal edge. In particular we study the geometry of the cuspidal cross-cap $M$, i.e. the cuspidal $S_0$ singularity. We study…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
Robots sense, move and act in the physical world. It is therefore natural that algorithmic problems in robotics and automation have a geometric component, often central to the problem. Below we review ten challenging problems at the…
We investigate autonomous mobile robots in the Euclidean plane. A robot has a function called target function to decide the destination from the robots' positions. Robots may have different target functions. If the robots whose target…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…