Related papers: Self-Motion of the 3-PPPS Parallel Robot with Delt…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on…
A direct numerical simulation of the three-dimensional elektrokinetic instability near a charge selective surface (electric membrane, electrode, or system of micro-/nanochannels) is carried out and analyzed. A special finite-difference…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…
We show that all self-motions of pentapods with linear platform of Type 1 and Type 2 can be generated by line-symmetric motions. Thus this paper closes a gap between the more than 100 year old works of Duporcq and Borel and the extensive…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
In this paper, we are exploring some of the properties of the self-similar solutions of the first kind. In particular, we shall discuss the kinematic properties and also check the singularities of these solutions. We discuss these…
We exactly solve the nonequilibrium dynamics of a harmonically trapped self-propelled particle with anisotropic translational mobility in two dimensions, relevant to rodlike microswimmers and wheeled robots. The mean displacement and MSD…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows of the…
Animals and robots must self-right on the ground after overturning. Biology research described various strategies and motor patterns in many species. Robotics research devised many strategies. However, we do not well understand how the…
In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
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…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…