相关论文: A Topologist's View of Kinematic Maps and Manipula…

In this paper we apply Donaldson's general moment map framework for the action of a symplectomorphism group on the corresponding space of compatible (almost) complex structures to the case of rational ruled surfaces. This gives a new…

We establish rigidity results for holomorphic mappings and plurisubharmonic functions in complex geometry. First, under mild conditions, we show that the gradient of a $\operatorname{U}(1)$-invariant strictly plurisubharmonic function in…

We examine a class of techniques for 3D object manipulation on mobile devices, in which the device's physical motion is applied to 3D objects displayed on the device itself. This "local coupling" between input and display creates specific…

We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…

The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search over a continuous configuration space, carried out by a…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…

We establish sharp upper bounds for the topological complexity of motion planning problem in spaces with small fundamental group, i.e. when it is finite of small order or has small cohomological dimension.

Patient-specific computational models of the heart are powerful tools for cardiovascular research and medicine, with demonstrated applications in treatment planning, device evaluation, and surgical decision-making. Yet constructing such…

Topological mapping of a large physical system on a graph, and its decomposition using universal measures is proposed. We find inherent limits to the potential for optimization of a given system and its approximate representations by…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

We study the computational problem of rigorously describing the asymptotic behaviour of topological dynamical systems up to a finite but arbitrarily small pre-specified error. More precisely, we consider the limit set of a typical orbit,…

In this paper, we introduce the notion of transversal topological complexity (TTC) for a smooth manifold $X$ with respect to a submanifold of codimension 1 together with basic results about this numerical invariant. In addition, we present…

This paper has a double goal, the first one is to make a slight survey of some theoretical results about the existence of positively invariant curves that allow to describe important properties of the set of bounded orbits and its boundary…

Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…

This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…

Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…

In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…

Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…