Related papers: Singularities of serial robots: Identification and…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
This paper studies various aspects of the motion of relativistic rotators, both in the presence and absence of external fields, using a toy model which, in a sense, can be regarded as a non-relativistic limit of the rotators. In a simpler…
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
A gaze-fixating robot perceives distance to the fixated object and relative positions of surrounding objects immediately, accurately, and robustly. We show how fixation, which is the act of looking at one object while moving, exploits…
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…
Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on…
This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein…
One of the strategies to detect the pose and shape of unknown objects is their geometric modeling, consisting on fitting known geometric entities. Classical geometric modeling fits simple shapes such as spheres or cylinders, but often those…