Related papers: Hexapods with a small linear span
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
We introduce a linear algebraic object called a bidiagonal triad. A bidiagonal triad is a modification of the previously studied and similarly defined concept of bidiagonal triple. A bidiagonal triad and a bidiagonal triple both consist of…
The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers.…
The family of Euclidean triangles having some fixed perimeter and area can be identified with a subset of points on a nonsingular cubic plane curve, i.e., an elliptic curve; furthermore, if the perimeter and the square of the area are…
We study well-posedness, stabilization and control problems involving freely vibrating beams that may undergo motions of large magnitude -- i.e. large displacements of the reference line and large rotations of the cross sections. Such…
Given a smooth complex variety $X$, an algebraically skew embedding of $X$ is an embedding of $X$ into a complex projective space $\mathbb{P}^N$ such that for any two points $x,y\in X$, their embedded tangent spaces in $\mathbb{P}^N$ do not…
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…
Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue…
We investigate the motions of a bar structure consisting of two congruent tetrahedra, whose edges in their basic position form the face diagonals of a rectangular parallelepiped. The constraint of the motion is that the originally…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
A geometric transition is a continuous path of geometric structures that changes type, meaning that the model geometry, i.e. the homogeneous space on which the structures are modeled, abruptly changes. In order to rigorously study…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
The theory of geometric structures on a surface with nonempty boundary can be developed by using a decomposition of such a surface into hexagons, in the same way as the theory of geometric structures on a surface without boundary is…
This paper focuses on studying the configuration spaces of graphs realised in $\mathbb C^2$, such that the configuration space is, after normalisation, one dimensional. If this is the case, then the configuration space is, generically, a…