Related papers: A novel partially-decoupled translational parallel…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed of a three-degree-of-freedom (DOF)…
This paper presents a parallel \PG{implementation} for the Optimal Transportation Meshfree (OTM) method on large CPU clusters. Communications are handled with the Message Passing Interface (MPI). The Recursive Coordinate Bisection (RCB)…
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
State-of-the-art approaches to footstep planning assume reduced-order dynamics when solving the combinatorial problem of selecting contact surfaces in real time. However, in exchange for computational efficiency, these approaches ignore…
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path…
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…
A novel template matching algorithm that can incorporate the concept of deformable parts, is presented in this paper. Unlike the deformable part model (DPM) employed in object recognition, the proposed template-matching approach called…
This paper presents a novel non-linear model reduction method: Probabilistic Manifold Decomposition (PMD), which provides a powerful framework for constructing non-intrusive reduced-order models (ROMs) by embedding a high-dimensional system…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
We address in this thesis the current need to design new parallel algorithms and tools that ease the development of geodynamic modelling applications that are suited for today's and tomorrow's hardware. We present (1) the MATLAB HPC…
This work presents and evaluates a novel input parameterization method which improves the tractability of model predictive control (MPC) for high degree of freedom (DoF) robots. Experimental results demonstrate that by parameterizing the…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling…
This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…
3D semantic occupancy prediction plays a pivotal role in autonomous driving. However, inherent limitations of fewframe images and redundancy in 3D space compromise prediction accuracy for occluded and distant scenes. Existing methods…
Compared with the remarkable progress made in parallel numerical solvers of partial differential equations,the development of algorithms for generating unstructured triangular/tetrahedral meshes has been relatively sluggish. In this paper,…
Large-scale models rely heavily on 3D parallelism for distributed training, which utilizes tensor parallelism (TP) as the intra-operator parallelism to partition model states across GPUs. However, TP introduces significant communication…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…