Related papers: Unveiling the Complete Variant of Spherical Robots
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
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 $\mathfrak{se}(3)$,…
This article undertakes a comprehensive examination of two distinct robot morphologies: the PUMA-type arm (Programmable Universal Machine for Assembly) and the UR-type robot (Universal Robots). The primary aim of this comparative analysis…
What if a robot could rethink its own morphological representation to better meet the demands of diverse tasks? Most robotic systems today treat their physical form as a fixed constraint rather than an adaptive resource, forcing the same…
We study two mechanisms of locomotion of a body in an inviscid fluid, which take place without the shedding of vorticity; we consider two simple examples of robots which are able to move along a straight trajectory. The first one consists…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
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…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…