相关论文: Linear Pentapods with a Simple Singularity Variety
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
We study geometric properties of linear strata of uni-singular curves. The singularities of closures of the strata are resolved and the resolutions are represent as projective bundles. This enables to study their geometry. In particular we…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…
This paper presents analysis of important issues associated with the design of refractive laser beam shaping systems. The concept of singular radius is introduced along with solutions to minimize its adverse effect on shaper performance. In…
In this article, we study symmetric $(v, k, \lambda)$ designs admitting a flag-transitive and point-primitive automorphism group $G$ whose socle is a projective special unitary group of dimension at most five. We, in particular, determine…
Robot design aims at learning to create robots that can be easily controlled and perform tasks efficiently. Previous works on robot design have proven its ability to generate robots for various tasks. However, these works searched the…
A classification of discrete integrable systems on quad-graphs, i.e. on surface cell decompositions with quadrilateral faces, is given. The notion of integrability laid in the basis of the classification is the three-dimensional…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
We study the flat geometry of the least degenerate singularity of a singular surface in $\mathbb R^4$, the $I_{1}$ singularity parametrised by $(x,y)\mapsto(x,xy,y^{2},y^{3})$. This singularity appears generically when projecting a regular…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
A five dimensional model containing both left-right and quark-lepton symmetries is constructed, with the gauge group broken by a combination of orbifold compactification and the Higgs mechanism. An analysis of the gauge and scalar sectors…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
We develop lower bounds for the energy of configurations in $\mathbb{R}^d$ periodic with respect to a lattice. In certain cases, the construction of sharp bounds can be formulated as a finite dimensional, multivariate polynomial…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
A class of axially symmetric, rotating four-dimensional geometries carrying D1, D5, KK monopole and momentum charges is constructed. The geometries are found to be free of horizons and singulaties, and are candidates to be the gravity duals…
We introduce and investigate numerically a minimal class of dynamical triangulations of two-dimensional gravity on the sphere in which only vertices of order five, six or seven are permitted. We show firstly that this restriction of the…