Related papers: An Overconstrained Vertical Darboux Mechanism
We examine emergent properties of 2D supramolecular networks, using enumeration of configurations formed by interacting dominoes on square lattices as a simple model system. Possible ground states are identified using a convex hull…
In this paper we present a far-reaching generalization of E. Vessiot's analysis of the Darboux integrable partial differential equations in one dependent and two independent variables. Our approach provides new insights into this classical…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
Doubly periodic (DP) weaves and polycatenanes are complex entangled structures embedded in the Euclidean thickened plane, invariant under translations in two independent directions. Their topological properties are fully encoded within a…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…
We consider Lotka-Volterra systems in three dimensions depending on three real parameters. By using elementary algebraic methods we classify the Darboux polynomials (also known as second integrals) for such systems for various values of the…
We derive the vector-like four dimensional overlap Dirac operator starting from a five dimensional Dirac action in the presence of a delta-function space-time defect. The effective operator is obtained by first integrating out all the…
We investigate dynamical properties of $S=1/2$ two-leg spin ladder systems. In a strong coupling region, an isolated mode appears in the lowest excited states, while in a weak coupling region, an isolated mode is reduced and the lowest…
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm…
Using the Darboux method and its relation with supersymmetric quantum mechanics we construct all SUSY partners of the harmonic oscillator. With the help of the SUSY transformation we introduce ladder operators for these partner Hamiltonians…
We review three different approaches to polynomial symmetry algebras underlying superintegrable systems in Darboux spaces. The first method consists of using deformed oscillator algebra to obtain finite-dimensional representations of…
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…