Related papers: Equatorial Platform Based on Planar Linkage
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
We discuss a new class of coordinate systems for a plane, which provide an analytical representation of arbitrary straightline, and then define the form of potential on the plane, under which the equations of motion of a mass point are…
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…
The anticipated physics program at an high energy e+e- linear collider places special emphasis on the accuracy in extrapolating charged particle tracks to their production vertex to tag heavy quarks and leptons. This paper reviews physics…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans…
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] in its configuration featuring non-steerable wheels. The term…
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
Hybrid aerial-terrestrial communication networks based on Low Altitude Platforms (LAPs) are expected to optimally meet the urgent communication needs of emergency relief and recovery operations for tackling large scale natural disasters.…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
We present a novel approach for low-complexity equalizer design well-suited for cellular massive MIMO systems. Our design allows to exploit the channel structure in terms of covariance matrices to improve the performance in the face of…
We propose a novel type of planar-to-spatial deployable structures that we call elastic geodesic grids. Our approach aims at the approximation of freeform surfaces with spatial grids of bent lamellas which can be deployed from a planar…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…
With the diffusion of complex heterogeneous platforms and their need of characterization, monitoring the system gained increasing interest. This work proposes a framework to build custom and modular monitoring systems, flexible enough to…
Interstellar radar is a potential intermediate step between passive observation of exoplanets and interstellar exploratory missions. Compared to passive observation, it has the traditional advantages of radar astronomy. It can measure…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…