相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes.…
Polycube segmentations for 3D models effectively support a wide variety of applications such as seamless texture mapping, spline fitting, structured multi-block grid generation, and hexahedral mesh construction. However, the automated…
This paper is concerned with the construction of new solutions in terms of birational maps to the functional tetrahedron equation and parametric tetrahedron equation. We present a method for constructing solutions to the parametric…
We present a method for discovering dense packings of general convex hard particles and apply it to study the dense packing behavior of a one-parameter family of particles with tetrahedral symmetry representing a deformation of the ideal…
Dimensional metrology and positioning operations are used in many fields of particle accelerator projects. This lecture gives the basic tools to designers in the field of measure by analysing the spatial layout of measurement systems since…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
In the 19th International Symposium on Advances in Robot Kinematics the author introduced a novel class of continuous flexible discrete surfaces and mentioned that these so-called P-hedra (or P-nets) allow direct access to their spatial…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Motivated by the problem of bounding the number of iterations of the Simplex algorithm we investigate the possible lengths of monotone paths followed by the Simplex method inside the oriented graphs of polyhedra (oriented by the objective…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
We introduce a ladder-shaped chain with each rung carrying a $\mathcal{PT}$ -symmetric gain-loss dipole. The polarity of the dipoles is staggered along the chain, meaning that a rung bearing gain-loss is followed by one bearing loss-gain.…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
We study numerically the induction mechanisms generated from an array of helical motions distributed along a cylinder. Our flow is a very idealized geometry of the columnar structure that has been proposed for the convective motion inside…
We present a polyhedral algorithm to manipulate positive dimensional solution sets. Using facet normals to Newton polytopes as pretropisms, we focus on the first two terms of a Puiseux series expansion. The leading powers of the series are…
We introduce a fast and invertible approximation for data simulated as 2D planar meshes with connectivities along the poloidal dimension in deforming 3D toroidal (donut-like) spaces generated by fusion simulations. In fusion simulations,…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…