相关论文: A design oriented study for 3R Orthogonal Manipula…

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…

This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots,…

The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to this problem require an accurate model to capture how robot…

In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

This paper presents a Riemannian metric-based model to solve the optimal path planning problem on two-dimensional smooth submanifolds in high-dimensional space. Our model is based on constructing a new Riemannian metric on a two-dimensional…

The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize…

Humanoid robots locomote by making and breaking contacts with their environment. A crucial problem is therefore to find precise criteria for a given contact to remain stable or to break. For rigid surface contacts, the most general…

We develop new dynamically orthogonal tensor methods to approximate multivariate functions and the solution of high-dimensional time-dependent nonlinear partial differential equations (PDEs). The key idea relies on a hierarchical…

Estimating 3D rotations is a common procedure for 3D computer vision. The accuracy depends heavily on the rotation representation. One form of representation -- rotation matrices -- is popular due to its continuity, especially for pose…

Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the…

Deformable object manipulation has many applications such as cooking and laundry folding in our daily lives. Manipulating elastoplastic objects such as dough is particularly challenging because dough lacks a compact state representation and…

This paper focuses on the optimal design of a tendon-driven continuum robot (TDCR) based on its feasible static workspace (FSW). The TDCR under consideration is a two-segment robot driven by eight tendons, with four tendon actuators per…

This paper proposes a novel formation maneuver control method for both 2-D and 3-D space, which enables the formation to translate, scale, and rotate with arbitrary orientation. The core innovation is the novel design of weights in the…

Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…

The orthogonal projection of a 4-cube onto a uniform random 3-subspace in R^4 is a convex 3-polyhedron P with 14 vertices almost surely. Three numerical characteristics of P -- volume, surface area and mean width -- are studied. These…

Any model order reduced dynamical system that evolves a modal decomposition to approximate the discretized solution of a stochastic PDE can be related to a vector field tangent to the manifold of fixed rank matrices. The Dynamically…

Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…

The Maximum Cut (MaxCut) problem is NP-Complete, and obtaining its optimal solution is NP-hard in the worst case. As a result, heuristic-based algorithms are commonly used, though their design often requires significant domain expertise.…