相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms
Deployable polyhedrons can transform between Platonic and Archimedean polyhedrons to meet the demands of various engineering applications. However, the existing design solutions are often with multiple degrees of freedom and complicated…
In this paper we try to find examples of integrable natural Hamiltonian systems on the sphere $S^2$ with the symmetries of each Platonic polyhedra. Although some of these systems are known, their expression is extremely complicated; we try…
The regular polyhedra have the highest order of 3D symmetries and are exceptionally at- tractive templates for (self)-assembly using minimal types of building blocks, from nano-cages and virus capsids to large scale constructions like glass…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
Given the increasing need for large aperture antennas in space missions, the difficulty of fitting such structures into small launch vehicles has prompted the design of deployable antenna systems. The thesis introduces a new Triple Scissors…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and develops a real-time motion planner based on the proposed…
We report the development of a monolithic, mechanically tunable waveguide platform based on the flexible polymer polydimethyl siloxane (PDMS). Such devices preserve single mode guiding across a wide range of linear geometric distortions.…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
Polycube structures provide parametric domains for all-hexahedral (all-hex) mesh generation and analysis-suitable volumetric spline construction in isogeometric analysis (IGA). Recent learning-based polycube pipelines have improved…
Modern micromanipulation techniques typically involve trapping using electromagnetic, acoustic or flow fields that produce stresses on the trapped particles thereby precluding stress-free manipulations. Here, we show that by employing…
Experiment shows that dumbbells, placed inside a tilted hollow cylindrical drum that rotates slowly around its axis, climb uphill by forming dynamically stable pairs, seemingly against the pull of gravity. Analysis of this experiment shows…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
In this paper, we introduce and study the Parallel Polyhedral Projection Method (3PM) and the Approximate Parallel Polyhedral Projection Method (A3PM) for finding a point in the intersection of finitely many closed convex sets. Each…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…