Related papers: Kinematics, workspace and singularity analysis of …
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…
This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…
We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…
A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the…
This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is…
This work presents the application of reinforcement learning to improve the performance of a highly dynamic hopping system with a parallel mechanism. Unlike serial mechanisms, parallel mechanisms can not be accurately simulated due to the…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
If robots are to become ubiquitous, they will need to be able to adapt to complex and dynamic environments. Robots that can adapt their bodies while deployed might be flexible and robust enough to meet this challenge. Previous work on…
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage…
This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…
We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…