相关论文: Linear Pentapods with a Simple Singularity Variety
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
We study surfaces of constant positive Gauss curvature in Euclidean 3-space via the harmonicity of the Gauss map. Using the loop group representation, we solve the regular and the singular geometric Cauchy problems for these surfaces, and…
We study the geometry of surfaces in $\mathbb{R}^{4}$ with corank $1$ singularities. For such surfaces the singularities are isolated and at each point we define the curvature parabola in the normal space. This curve codifies all the second…
A novel algorithm that produces a quad layout based on imposed set of singularities is proposed. In this paper, we either use singularities that appear naturally, e.g., by minimizing Ginzburg-Landau energy, or use as an input user-defined…
In this paper we give a full classification of all pentapods with mobility 2, where neither all platform anchor points nor all base anchor points are located on a line. Therefore this paper solves the famous Borel-Bricard problem for…
The complete classification of hexapods - also known as Stewart Gough platforms - of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
It is shown that gauged nonlinear sigma models can be always deformed by terms proportional to the field strength of the gauge fields (nonminimal gauging). These deformations can be interpreted as perturbations, by marginal operators, of…
In the generalized truncation construction, one replaces each vertex of a $k$-regular graph $\Gamma$ with a copy of a graph $\Upsilon$ of order $k$. We investigate the symmetry properties of the graphs constructed in this way, especially in…
We consider the task of reconstructing polytopes with fixed facet directions from finitely many support function evaluations. We show that for a fixed simplicial normal fan the least-squares estimate is given by a convex quadratic program.…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
Snapshot matrices of hyperbolic equations have a slow singular value decay, resulting in inefficient reduced-order models. We develop on the idea of inducing a faster singular value decay by computing snapshots on a transformed spatial…
We introduce a conceptually simple and efficient algorithm for seamless parametrization, a key element in constructing quad layouts and texture charts on surfaces. More specifically, we consider the construction of parametrizations with…
Given a 6-dimensional complex vector space $W$, we consider linear systems of skew-symmetric forms on W. The $n$-dimensional linear systems this kind, that can also be interpreted as $n$-dimensional linear subspaces of…
We locate gaps in the spectrum of a Hamiltonian on a periodic cuboidal (and generally hyperrectangular) lattice graph with $\delta$ couplings in the vertices. We formulate sufficient conditions under which the number of gaps is finite. As…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
In Part I we construct the upper bound, in the spirit of $\Gamma$- $\limsup$, achieved by multidimensional profiles, for some general classes of singular perturbation problems, with or without the prescribed differential constraint, taking…