相关论文: Solving Cosserat Rod Models via Collocation and th…
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance because of manipulator limitations and inaccessible workspaces.…
In this paper, we propose a proximal gradient method and an accelerated proximal gradient method for solving composite optimization problems, where the objective function is the sum of a smooth and a convex, possibly nonsmooth, function. We…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
We propose a data segmentation methodology for the high-dimensional linear regression problem where regression parameters are allowed to undergo multiple changes. The proposed methodology, MOSEG, proceeds in two stages: first, the data are…
A recent article introduced thecontinuous stochastic gradient method (CSG) for the efficient solution of a class of stochastic optimization problems. While the applicability of known stochastic gradient type methods is typically limited to…
$ $Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic relationships between segments. This paper presents an…
In this work, we compare the nodal and isogeometric spatial discretization schemes for the nonlinear formulation of shear- and torsion-free rods introduced in [1]. We investigate the resulting discrete solution space, the accuracy, and the…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kinematic structures with anthropomorphic movements. In…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
In this paper, the modelling strategy of a Cosserat rod element (CRE) is addressed systematically for 3-dimensional dynamical analysis of slender structures. We employ the exact nonlinear kinematic relationships in the sense of Cosserat…
We present a novel approach to quantifying and optimizing stability in robotic systems based on the Lyapunov exponents addressing an open challenge in the field of robot analysis, design, and optimization. Our method leverages…
With the rapid development of the construction industry, issues such as harsh working environments, high-intensity and high-risk tasks, and labor shortages have become increasingly prominent. This drives higher demands for construction…
A multi-step extended maximum residual Kaczmarz method is presented for the solution of the large inconsistent linear system of equations by using the multi-step iterations technique. Theoretical analysis proves the proposed method is…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
In this work, we propose a high-order multiscale method for an elliptic model problem with rough and possibly highly oscillatory coefficients. Convergence rates of higher order are obtained using the regularity of the right-hand side only.…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…