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After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Cubic invariants for two-dimensional Hamiltonian systems are investigated using the Jacobi geometrization procedure. This approach allows for a unified treatment of invariants at both fixed and arbitrary energy. In the geometric picture the…
We assign some kind of invariant manifolds to a given integrable PDE (its discrete or semi-discrete variant). First, we linearize the equation around its arbitrary solution $u$. Then we construct a differential (respectively, difference)…
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the…
Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…
Let $A$ be a finite dimensional $Q-$algebra and $\Gamma subset A$ a $Z-$order. We classify those $A$ with the property that $Z^2$ does not embed in $\mathcal{U}(\Gamma)$. We call this last property the hyperbolic property. We apply this in…
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…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
We study the dynamical symmetries of a class of two-dimensional superintegrable systems on a 2-sphere, obtained by a procedure based on the Marsden-Weinstein reduction, by considering its shape-invariant intertwining operators. These are…
We introduce a new real-valued invariant called the natural slope of a hyperbolic knot in the 3-sphere, which is defined in terms of its cusp geometry. We show that twice the knot signature and the natural slope differ by at most a constant…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a…
Here we study the space of real hyperbolic plane curves that are invariant under actions of the cyclic and dihedral groups and show they have determinantal representations that certify this invariance. We show an analogue of Nuij's theorem…
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…
Cubic invariants for two-dimensional degenerate Hamiltonian systems are considered by using variables of separation of the associated St\"ackel problems with quadratic integrals of motion. For the superintegrable St\"ackel systems the cubic…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and…