Related papers: Self-Motion of the 3-PPPS Parallel Robot with Delt…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
A brief summary of results on kinematic self-similarities in general relativity is given. Attention is focussed on locally rotationally symmetric models admitting kinematic self-similar vectors. Coordinate expressions for the metric and the…
In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
We present a geometric approach to the three-body problem in the non-relativistic context of the Barbour-Bertotti theories. The Riemannian metric characterizing the dynamics is analyzed in detail in terms of the relative separations.…
We study the dynamics and the phase-space structures of Coulombic and self-gravitating versions of the classical one-dimensional 3-body system with periodic boundary conditions. We demonstrate that such a 3-body system may be reduced…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
We study computationally-hard fundamental motion planning problems where the goal is to translate $k$ axis-aligned rectangular robots from their initial positions to their final positions without collision, and with the minimum number of…
The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
We study the existence, stability, and mobility of fundamental discrete solitons in two- and three-dimensional nonlinear Schroedinger lattices with a combination of cubic self-focusing and quintic self-defocusing onsite nonlinearities.…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…