Related papers: Kinematics, workspace and singularity analysis of …
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…
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…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
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…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches simplify these parallel mechanisms into serial models during…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
A polynomial solution to the inverse kinematic problem of the Kinova Gen3 Lite robot is proposed in this paper. This serial robot is based on a 6R kinematic chain and is not wrist-partitioned. We first start from the forward kinematics…
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many…
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to…