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

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric…

Distance metric learning (DML), which learns a distance metric from labeled "similar" and "dissimilar" data pairs, is widely utilized. Recently, several works investigate orthogonality-promoting regularization (OPR), which encourages the…

We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can…

Symmetric orthogonalization via SVD, and closely related procedures, are well-known techniques for projecting matrices onto $O(n)$ or $SO(n)$. These tools have long been used for applications in computer vision, for example optimal 3D…

Direct mesh editing and deformation are key components in the geometric modeling and animation pipeline. Mesh editing methods are typically framed as optimization problems combining user-specified vertex constraints with a regularizer that…

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…

Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the…

This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…

This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On…

Let $\mathcal{W} \subset \mathbb{R}^2$ be a rectilinear polygonal environment (that is, a rectilinear polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square,…

Robot assistants are emerging as high-tech solutions to support people in everyday life. Following and assisting the user in the domestic environment requires flexible mobility to safely move in cluttered spaces. We introduce a new approach…

This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…

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…

Three dimensional (3D) structures composed of planar surfaces can be build out of accessible materials using easier fabrication technique with shorter fabrication time. To better design 3D structures with planar surfaces, realistic models…

Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…

In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…

This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…

In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…