相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

We show that several classes of polyhedra are joined by a sequence of O(1) refolding steps, where each refolding step unfolds the current polyhedron (allowing cuts anywhere on the surface and allowing overlap) and folds that unfolding into…

Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…

Discrete de Rham (DDR) methods provide non-conforming but compatible approximations of the continuous de Rham complex on general polytopal meshes. Owing to the non-conformity, several challenges arise in the analysis of these methods. In…

Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…

A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…

We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a tight space demands highly coordinated…

Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…

In a wide range of practical problems, such as forming operations and impact tests, assuming that one of the contacting bodies is rigid is an excellent approximation to the physical phenomenon. In this work, the well-established dual mortar…

A notion of "radially monotone" cut paths is introduced as an effective choice for finding a non-overlapping edge-unfolding of a convex polyhedron. These paths have the property that the two sides of the cut avoid overlap locally as the cut…

In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding…

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…

Here the multipole approach [13], in combination with the density matrix formalism is used for establishing of the model for MMs with gain. This approach allows us to investigate analytically or semi-analytically the interplay between gain…

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…

Under specific conditions, a rotating saddle potential can confine the motion of a particle on its surface. This time-varying hyperbolic potential shares key characteristics with the RF electric quadrupole ion trap (RF Paul trap), making it…

We describe a general procedure which allows to construct, starting from a given Hamiltonian, the whole family of new ones sharing the same set of unparameterized trajectories in phase space. The symmetry structure of this family can be…

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…

The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…

Transforming planar mesoscale devices into precise 3-D architectures is vital for next-generation flexible electronics, implants, and adaptive optics, yet wafer-based manufacturing to free-standing 3-D structures remain elusive. We…

Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…