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

Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…

The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…

The design space (DS) is defined as the combination of materials and process conditions that guarantees the assurance of quality. This principle ensures that as long as a process operates within DS, it consistently produces a product that…

The present project deals with the elastostatic modeling and calibration experiment of spacial industrial manipulators using an optimal selection of measurements pose, for the calibration procedure, the optimal pose selection aims to the…

Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…

Let $P$ be a set of $n$ points in $\mathbb{R}^2$. For a given positive integer $w<n$, our objective is to find a set $C \subset P$ of points, such that $CH(P\setminus C)$ has the smallest number of vertices and $C$ has at most $n-w$ points.…

Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic impact on planning performance. This is well known as the…

Spectral methods are widely used in geometry processing of 3D models. They rely on the projection of the mesh geometry on the basis defined by the eigenvectors of the graph Laplacian operator, becoming computationally prohibitive as the…

Solving large-scale optimization on-the-fly is often a difficult task for real-time computer graphics applications. To tackle this challenge, model reduction is a well-adopted technique. Despite its usefulness, model reduction often…

In this work, we present a collection of new results on two fundamental problems in geometric data structures: orthogonal point location and rectangle stabbing. -We give the first linear-space data structure that supports 3-d point location…

The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and…

In rectangle packing problems we are given the task of placing axis-aligned rectangles in a given plane region, so that they do not overlap with each other. In Maximum Weight Independent Set of Rectangles (MWISR), their position is given…

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. Moreover, choosing the optimal IK solution with respect to…

Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…

Implicit neural representations have emerged as a powerful tool in learning 3D geometry, offering unparalleled advantages over conventional representations like mesh-based methods. A common type of INR implicitly encodes a shape's boundary…

There is a growing demand for redirected walking (RDW) techniques and their application. To apply appropriate RDW methods and manipulation, the RDW controllers are predominantly used. There are three types of RDW controllers: direct…