Related papers: A Systematic Approach to Computing the Manipulator…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
This is the second and final article on the tutorial on manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using the elementary transform sequence (ETS), before formulating forward kinematics and…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Apart from solving complicated problems that require a certain level of intelligence, fine-tuned deep neural networks can also create fast algorithms for slow, numerical tasks. In this paper, we introduce an improved version of [1]'s work,…
Electromagnetic transient (EMT) models are index-2 differential-algebraic equations when they include certain topologies and are formulated with modified nodal analysis. Such systems are difficult to numerically integrate, a challenge that…
For electromagnetic transient (EMT) simulation of a power system, a state-space-based approach needs to solve state-space EMT equations by using numerical integration methods, e.g., the Euler method, Runge-Kutta methods, and…
Due to the processes that occur during the functioning of modern electromechanical systems, these systems can be considered complex nonlinear dynamic systems from the point of view of the theory of dynamic systems. The movement of such…
$ $Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic relationships between segments. This paper presents an…
It is common in classical mechanics to encounter systems whose Hamiltonian $H$ is the sum of an often exactly integrable Hamiltonian $H_0$ and a small perturbation $\epsilon H_1$ with $\epsilon\ll1$. Such near-integrability can be exploited…
In a series of recent papers we have shown how the dynamical behavior of certain classical systems can be analyzed using operators evolving according to Heisenberg-like equations of motions. In particular, we have shown that raising and…
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Computing derivatives of tensor expressions, also known as tensor calculus, is a fundamental task in machine learning. A key concern is the efficiency of evaluating the expressions and their derivatives that hinges on the representation of…
Many problems in robotics involve creating or breaking multiple contacts nearly simultaneously or in an indeterminate order. We present a novel general purpose numerical integrator based on the theory of Event Selected Systems (ESS). Many…
This paper presents a hetero-associative sequential memory system for mobile manipulators that learns compact, neuromorphic bindings between robot joint states and tactile observations to produce step-wise action decisions with low compute…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
In this paper, a new numerical method to solve the forward kinematics (FK) of a parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure is presented. Unlike the existing numerical approaches that rely on…