相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance…

Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…

Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…

For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for…

This paper aims to present a fairly accessible generalization of several symmetric Gauss-Seidel decomposition based multi-block proximal alternating direction methods of multipliers (ADMMs) for convex composite optimization problems. The…

One way of constructing explicit expressions of solutions of integrable systems of Partial Differential Equations (PDEs) goes via the Darboux method. This requires the construction of Darboux matrices. Here we introduce a novel algorithm to…

In a previous work, both the constants of motion of a classical system and the symmetries of the corresponding quantum version have been computed with the help of factorizations. As their expressions were not polynomial, in this paper the…

Parallelogram polyominoes are a subclass of convex polyominoes in the square lattice that has been studied extensively in the literature. Recently congruence classes of convex polyominoes with respect to rotations and reflections have been…

Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics,…

Classical (maximal) superintegrable systems in $n$ dimensions are Hamiltonian systems with $2n-1$ independent constants of the motion, globally defined, the maximum number possible. They are very special because they can be solved…

Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph…

There are three generalizations of the Platonic solids that exist in all dimensions, namely the hypertetrahedron, the hypercube, and the hyperoctahedron, with the latter two being dual. Conformal field theories with the associated symmetry…

We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of…

We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…

Coupled metronomes serve as a paradigmatic model for exploring the collective behaviors of complex dynamical systems, as well as a classical setup for classroom demonstrations of synchronization phenomena. Whereas previous studies of…

The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair…

3D frame fields are auxiliary for hexahedral mesh generation. There mainly exist three ways to represent 3D frames: combination of rotations, spherical harmonics and fourth order tensor. We propose here a representation carried out by the…