Related papers: Constrained Motion Spaces of Robotic Arms
Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values of the base-length, $z$, at which the configuration space…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
We study the motion of a robotic arm inside a rectangular tunnel. We prove that the configuration space of all possible positions of the robot is a CAT(0) cubical complex. This allows us to use techniques from geometric group theory to find…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
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…
In this paper we study a notion of topological complexity for the motion planning problem. The topological complexity is a number which measures discontinuity of the process of motion planning in the configuration space X. More precisely,…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent.…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
The complexity of algorithms solving the motion planning problem is measured by a homotopy invariant TC(X) of the configuration space X of the system. Previously known lower bounds for TC(X) use the structure of the cohomology algebra of X.…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
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…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…
This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of persistent homology as a guiding principle in identifying the…
We explore the combinatorial properties of the branching areas of execution paths in higher dimensional automata. Mathematically, this means that we investigate the combinatorics of the negative corner (or branching) homology of a globular…
We consider the problem of robot motion planning in an oriented Riemannian manifold as a topological motion planning problem in its oriented frame bundle. For this purpose, we study the topological complexity of oriented frame bundles,…