相关论文: How to automate a kinematic mount using a 3D print…
Online planning and execution of minimum-time maneuvers on three-dimensional (3D) circuits is an open challenge in autonomous vehicle racing. In this paper, we present an artificial race driver (ARD) to learn the vehicle dynamics, plan and…
The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
We designed a metallic programmable mirror for optical wavelengths made up of a large number of discrete steps which can be moved independently by actuators. The device is able to easily reshape an incident beam, imprinting on it an optical…
In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing…
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these elements. With this control framework, a rich repertoire of…
Optical imaging technologies are central to discovery in the life and physical sciences, yet their impact depends on how readily they can be built, adapted, and sustained across laboratories. Digital fabrication, including desktop 3D…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics…
Photonic components responsive to external optical stimuli are attracting increasing interest, because their properties can be manipulated by light with fast switching times, high spatial definition, and potentially remote control. These…
In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
We present and test the integration of a static orbital angular momentum mode multiplexer with a dynamical geometric-phase optical element enabling on-demand spin-controlled angular momentum multiplexing. A diffractive optics multiplexer…
Dynamic radiographic measurement of 3D TKA kinematics has provided important information for implant design and surgical technique for over 30 years. However, current methods of measuring TKA kinematics are too cumbersome or time-consuming…
Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which…
This paper introduces a new approach for the automated reconstruction - reassembly of fragmented objects having one surface near to plane, on the basis of the 3D representation of their constituent fragments. The whole process starts by 3D…