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This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Autonomous manipulation systems operating in domains where human intervention is difficult or impossible (e.g., underwater, extraterrestrial or hazardous environments) require a high degree of robustness to sensing and communication…
There exists a bijection between the configuration space of a linear pentapod and all points $(u,v,w,p_x,p_y,p_z)\in\mathbb{R}^{6}$ located on the singular quadric $\Gamma: u^2+v^2+w^2=1$, where $(u,v,w)$ determines the orientation of the…
The purpose of this paper is to prove the L^p boundedness of singular Radon transforms and their maximal analogues. These operators differ from the traditional singular integrals and maximal functions in that their definition at any point x…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Localization of unknown faults in industrial systems is a difficult task for data-driven diagnosis methods. The classification performance of many machine learning methods relies on the quality of training data. Unknown faults, for example…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
In this article we study the structured distance to singularity for a nonsingular matrix $A\in\mathbb{C}^{n\times n}$, with a prescribed linear structure $\mathcal{S}$ (for instance, a sparsity pattern, or a real Toeplitz structure), i.e.,…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
In this paper, we consider the problem of formation of a series of geometric patterns [4] by a network of oblivious mobile robots that communicate only through vision. So far, the problem has been studied in models where robots are either…
This paper proposes a distributed algorithm for a set of tiny unit disc shaped robot to form a straight line. The robots are homoge- neous, autonomous, anonymous. They observe their surrounding up to a certain distance, compute destinations…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
When analyzing parametric statistical models, a useful approach consists in modeling geometrically the parameter space. However, even for very simple and commonly used hierarchical models like statistical mixtures or stochastic deep neural…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…