相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

This article presents a novel mathematical formalism for advanced manifold--metric pairs, enhancing the frameworks of geometry and topology. We construct various D-dimensional manifolds and their associated metric spaces using functional…

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…

Across various scientific and engineering domains, a growing interest in flexible and deployable structures is becoming evident. These structures facilitate seamless transitions between distinct states of shape and find broad applicability…

This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…

Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…

Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…

We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…

In this work, following the Discrete de Rham (DDR) paradigm, we develop an arbitrary-order discrete divdiv complex on general polyhedral meshes. The construction rests 1) on discrete spaces that are spanned by vectors of polynomials whose…

Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…

Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…

An association scheme is called partially metric if it has a connected relation whose distance-two relation is also a relation of the scheme. In this paper we determine the symmetric partially metric association schemes with a multiplicity…

Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This…

A new shape-based geometric method (SBGM) is proposed for generation of multi-impulse transfer trajectories between arbitrary coplanar oblique orbits via a heuristic algorithm. The key advantage of the proposed SBGM includes a significant…

The metric on the moduli space of SU(2) charge four BPS monopoles with tetrahedral symmetry is calculated using numerical methods. In the asymptotic region, in which the four monopoles are located on the vertices of a large tetrahedron, the…

A mechanically-based structural optimization method is utilized to explore the phenomena of jamming for assemblies of frictionless Platonic solids. Systems of these regular convex polyhedra exhibit mechanically stable phases with density…

Indirect hex-dominant meshing methods rely on the detection of adjacent tetrahedra an algorithm that performs this identification and builds the set of all possible combinations of tetrahedral elements of an input mesh T into hexahedra,…

Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…