Related papers: Reconfiguration of 3D Pivoting Modular Robots
First we explain the concept of local deformation over a 'parameter' algebra P, in particular the notion of a P-lattice in a Lie group. Purpose of this article is to define the spaces of automorphic resp. cusp forms on the upper half plane…
This paper studies the problem of reconstructing binary matrices that are only accessible through few evaluations of their discrete X-rays. Such question is prominently motivated by the demand in material science for developing a tool for…
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to…
A well-established theoretical model for modular robots in two dimensions are edge-connected configurations of square modules, which can reconfigure through so-called sliding moves. Dumitrescu and Pach [Graphs and Combinatorics, 2006]…
Even though Non-rigid Structure-from-Motion (NRSfM) has been extensively studied and great progress has been made, there are still key challenges that hinder their broad real-world applications: 1) the inherent motion/rotation ambiguity…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…
Non-rigid registration is challenging because it is ill-posed with high degrees of freedom and is thus sensitive to noise and outliers. We propose a robust non-rigid registration method using reweighted sparsities on position and…
In this article, we construct integrally closed modules of rank two over a two-dimensional regular local ring. The modules are explicitly constructed from a given complete monomial ideal with respect to a regular system of parameters. Then…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Reconstruction of the mandible is one of the most common challenges facing maxillofacial surgeons. The mandible plays a major role in supporting the teeth inside the mouth. This work aims to develop a proposed methodology for improving…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
Recently, Ohsaka [STACS'23] put forth the Reconfiguration Inapproximability Hypothesis (RIH), which roughly asserts that there is some $\epsilon>0$ such that given as input a $k$-CSP instance (for some constant $k$) over some constant sized…
In Transformers, Position Embeddings (PEs) significantly influence Length Generalization (LG) performance, yet their fundamental role remains unclear. In this work, we investigate the limitations and capabilities of PEs in achieving LG. We…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…