Related papers: Extended URDF: Accounting for parallel mechanism i…
The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each task is costly and impractical. Unified representations…
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…
Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
Underground mining robots are increasingly operated in virtual environments (VEs) for training, planning, and digital-twin applications, where reliable kinematics is essential for avoiding hazardous in-situ trials. Unlike typical open-chain…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Currently, lower limb robotic rehabilitation is widely developed, However, the devices used so far seem to not have a uniform criteria for their design, because, on the contrary, each developed mechanism is often presented as if it does not…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Complex real-time control system is a software dense and algorithms dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in real-time…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
The gesture-determined-dynamic function (GDDF) offers an effective way to handle the control problems of humanoid robots. Specifically, GDDF is utilized to constrain the movements of dual arms of humanoid robots and steer specific gestures…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthroughs. Compared to traditional model-based control…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…