相关论文: A Topologist's View of Kinematic Maps and Manipula…
In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…
Topological complexity is a homotopy invariant that measures the minimal number of continuous rules required for motion planning in a space. In this work, we introduce persistent analogs of topological complexity and its cohomological lower…
3D shape creation and modeling remains a challenging task especially for novice users. Many methods in the field of computer graphics have been proposed to automate the often repetitive and precise operations needed during the modeling of…
The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of…
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
We define the notion of near geodesic between points of a metric space when no geodesic exists, and use this to extend Recio-Mitter's notion of geodesic complexity to non-geodesic spaces. This has potential application to topological…
In this study, we delve into the discrete TC of surjective simplicial fibrations, aiming to unravel the interplay between topological complexity, discrete geometric structures, and computational efficiency. Moreover, we examine the…
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Topological entropy is a measure of complex dynamics. In this regard, multimodal maps play an important role when it comes to study low-dimensional chaotic dynamics or explain some features of higher dimensional complex dynamics with…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Understanding the global dynamics of a robot controller, such as identifying attractors and their regions of attraction (RoA), is important for safe deployment and synthesizing more effective hybrid controllers. This paper proposes a…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of the…
Stable fold maps are fundamental tools in a generalization of the theory of Morse functions on smooth manifolds and its application to studies of geometric properties of smooth manifolds. Round fold maps were introduced as stable fold maps…
It is a crucial problem in robotics field to cage an object using robots like multifingered hand. However the problem what is the caging for general geometrical objects and robots has not been well-described in mathematics though there were…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
This paper explores topological complexity in the finite equivariant setting. We first define and study an equivariant version of Tanaka's combinatorial complexity for finite topological spaces. We explore the relationships between this…