Related papers: Reconfiguration of 3D Pivoting Modular Robots
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
Second order integrals of motion for 3d quantum mechanical systems with position dependent masses (PDM) are classified. Namely, all PDM systems are specified which, in addition to their rotation invariance, admit at least one second order…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple directions when stretched and enable…
This paper addresses two questions: (a) can we identify a sensible class of 2-parameter persistence modules on which the rank invariant is complete? (b) can we determine efficiently whether a given 2-parameter persistence module belongs to…
Shape constraints, such as non-negativity, monotonicity, convexity or supermodularity, play a key role in various applications of machine learning and statistics. However, incorporating this side information into predictive models in a hard…
Rotary Position Embedding (RoPE) is widely adopted in large language models (LLMs) due to its efficient encoding of relative positions with strong extrapolation capabilities. However, while its application in higher-dimensional input…
Many nonconvex problems in robotics can be relaxed into convex formulations via Semi-Definite Programming (SDP) that can be solved to global optimality. The practical quality of these solutions, however, critically depends on rounding them…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their own…
This paper considers a recoverable robust single-machine scheduling problem under polyhedral uncertainty with the objective of minimising the total flow time. In this setting, a decision-maker must determine a first-stage schedule subject…
We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…