相关论文: Sarrus-inspired Deployable Polyhedral Mechanisms

In this paper, an analytical method that solves the forward displacement problem of several common spherical parallel manipulators (SPMs) is presented. The method uses the the quaternion algebra to restate the problem as a system of four…

This article presents an overview of the theory of integrable systems with symmetries, focusing on toric systems, semitoric systems, and their classifications via decorated polygons. We discuss certain one-parameter families of integrable…

Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…

We revisit the symmetry structure of integrable PDEs, looking at the specific example of the KdV equation. We identify 4 nonlocal symmetries of KdV depending on a parameter, which we call generating symmetries. We explain that since these…

A deformed differential calculus is developed based on an associative star-product. In two dimensions the Hamiltonian vector fields model the algebra of pseudo-differential operator, as used in the theory of integrable systems. Thus one…

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…

Ladder polymers, known for their rigid, ladder-like structures, exhibit exceptional thermal stability and mechanical strength, positioning them as candidates for advanced applications. However, accurately determining their structure from…

This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target…

In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…

Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…

This dissertation presents new results on three different themes all related to matroid polytopes. First we investigate properties of Ehrhart polynomials of matroid polytopes, independence matroid polytopes, and polymatroids. We prove that…

In this paper, we propose a novel penetration metric, called deformable penetration depth PDd, to define a measure of inter-penetration between two linearly deforming tetrahedra using the object norm. First of all, we show that a distance…

Spherical nanoclusters and nanoparticles are rising materials whose functional design provides many useful applications ranging from catalysis, molecular sensing, gas storage to drug targeting and delivery. Here, we develop phenomenological…

We start from a study of the density-potential relation for classical homeoids in terms of an asymptotic expansion for small deviations from spherical symmetry. We then show that such expansion is a useful device that allows us to construct…

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

In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport…

Recent work by McClarren & Hauck [29] suggests that the filtered spherical harmonics method represents an efficient, robust, and accurate method for radiation transport, at least in the two-dimensional (2D) case. We extend their work to the…