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Using the recently developed soldering formalism we highlight certain features of quantum mechanical models. The complete correspondence between these models and self dual field theoretical models in odd dimensions is established. The…
We study multitoken interaction machines in the context of a very expressive logical system with exponentials, fixpoints and synchronization. The advantage of such machines is to provide models in the style of the Geometry of Interaction,…
A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic…
The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These…
We revisit the novel symmetries in $\mathcal{N}$ = 2 supersymmetric (SUSY) quantum mechanical (QM) models by considering specific examples of coupled systems. Further, we extend our analysis to a general case and list out all the novel…
We study two subspace systems in a separable infinite-dimensional Hilbert space up to (bounded) isomorphism. One of the main result of this paper is the following: Isomorphism classes of two subspace systems given by graphs of bounded…
We investigate some modal operators of necessity and possibility in the context of meet-complemented (not necessarily distributive) lattices. We proceed in stages. We compare our operators with others.
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
By considering an empirical approximation, and a new class of operators that we will call walking operators, we construct, for any positive ND-toeplitz matrix, an infinite in all dimensions matrix, for which the inverse approximates the…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
Mode tapering, or the gradual manipulation of the size of some mode, is a requirement for any system that aims to efficiently interface two or more subsystems of different mode sizes. While high efficiency tapers have been demonstrated,…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
In the context of Synthetic Differential Geometry, we describe a notion of higher connection with values in a cubical groupoid. We do this by exploiting a certain structure of cubical complex derived from the first neighbourhood of the…
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
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…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
It is shown that the geometry of parallelizable manifolds can be extended to non-parallelizable ones by extending the connection that a global frame field would define on a parallelizable manifold to a connection that a singular frame field…