Related papers: Reconfiguration of 3D Pivoting Modular Robots
Differentiable rendering is a technique to connect 3D scenes with corresponding 2D images. Since it is differentiable, processes during image formation can be learned. Previous approaches to differentiable rendering focus on mesh-based…
Recently, interest has grown for application of reconfigurable devices in robust and adaptive control systems. The main advantage of such devices is that its structure is not fixed and may be varied depending on the currently used control…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
We are interested in the naive problem whether we can move a solid object in a solid box or not. We restrict move to rotation. In the case we can, the centre and the ``direction'' of rotation may be restricted. Simplifying, we consider…
The first part of this paper describes in detail the action of small gauge transformations in heterotic supergravity. We show a convenient gauge fixing is `holomorphic gauge' together with a condition on the holomorphic top form. This gauge…
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…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally limited by low axial stiffness, poor…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
We consider a five dimensional AdS spacetime in presence of higher curvature term like $F(R) = R + \alpha R^2$ in the bulk. In this model, we examine the possibility of modulus stabilization from the scalar degrees of freedom of higher…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Given a periodic placement of copies of a tromino (either L or I), we prove co-RE-completeness (and hence undecidability) of deciding whether it can be completed to a plane tiling. By contrast, the problem becomes decidable if the initial…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
We introduce REDO, a class-agnostic framework to REconstruct the Dynamic Objects from RGBD or calibrated videos. Compared to prior work, our problem setting is more realistic yet more challenging for three reasons: 1) due to occlusion or…
Deep learning highly relies on the quantity of annotated data. However, the annotations for 3D volumetric medical data require experienced physicians to spend hours or even days for investigation. Self-supervised learning is a potential…
3D reconstruction from 2D inputs, especially for non-rigid objects like humans, presents unique challenges due to the significant range of possible deformations. Traditional methods often struggle with non-rigid shapes, which require…