相关论文: Kinematics of Spherical Robots Rolling Over 3D Ter…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector…
In this paper, we show how the study of kinematics of a family of trajectories of a classical mechanical system may be unified within the framework of analysis of geodesic flows in Riemannian geometry and Relativity. After setting up the…
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…
A model of simplicial quantum gravity in three dimensions(3D) was investigated numerically based on the technique of dynamical triangulation (DT). We are concerned with the genus of surfaces appearing on boundaries (i.e., sections) of a 3D…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
A number of swimming microorganisms such as ciliates ($\textit{Opalina}$) and multicellular colonies of flagellates ($\textit{Volvox}$) are approximately spherical in shape and swim using beating arrays of cilia or short flagella covering…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
This paper provides the mathematical expressions, formulated in classical trigonometric terms, that are required (i) to compute an animal's body orientations and rotations in 3D space from data acquired at high-frequency by on-board…
This paper introduces Spatial Diagrammatic Instructions (SDIs), an approach for human operators to specify objectives and constraints that are related to spatial regions in the working environment. Human operators are enabled to sketch out…
We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A kinematically controlled configuration assumes that both…
Neural Fields have emerged as a transformative approach for 3D scene representation in computer vision and robotics, enabling accurate inference of geometry, 3D semantics, and dynamics from posed 2D data. Leveraging differentiable…
In this paper, we study Random Dynamical Systems (RDSs) of homeomorphisms on the circle without a finite orbit. We characterize the topological dynamics of the associated semigroup by identifying the existence of invariant sets which are…
Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
A triangulated spherical surface model is numerically studied, and it is shown that the model undergoes phase transitions between the smooth phase and the collapsed phase. The model is defined by using a director field, which is assumed to…
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…