相关论文: Design Optimization of Wire Arrangement with Varia…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
This paper shows how to reduce the otherwise hard joint relay positioning and flow optimization problem into a sequence a two simpler decoupled problems. We consider a class of wireless multicast hypergraphs mainly characterized by their…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Wireless body area networks are wireless sensor networks whose adoption has recently emerged and spread in important healthcare applications, such as the remote monitoring of health conditions of patients. A major issue associated with the…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Compared with gears and linkages, wires constitute a lightweight, low-friction transmission mechanism. However, because wires are flexible materials, they tend to introduce large modeling errors, and their adoption in industrial and…
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
While cervical arthroplasty using Total Disc Replacement (TDR) implants is an established treatment for persistent neck and arm pain, revision rates limit it from reaching its full potential. To address the underlying complications, we…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Robot arm placements are oftentimes a limitation in surgical preoperative procedures, relying on trained staff to evaluate and decide on the optimal positions for the arms. Given new and different patient anatomies, it can be challenging to…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
This paper investigates the \emph{Wiring Diagram Problem} (WDP), a three-dimensional layout design problem arising in industrial applications such as cable harness design and pipeline routing in constrained environments. In these settings,…
An increasing number of electronics are directly embedded on the clothing to monitor human status (e.g., skeletal motion) or provide haptic feedback. A specific challenge to prototype and fabricate such a clothing is to design the wiring…
Resourceful operation and design of robots is key for sustainable industrial automation. This will be enabled by lightweight design along with time and energy optimal control of robotic manipulators. Design and control of such systems is…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
An important new trend in additive manufacturing is the use of optimization to automatically design industrial objects, such as beams, rudders or wings. Topology optimization, as it is often called, computes the best configuration of…