相关论文: A non-cubic space-filling modular robot

A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

We review some recent results and conjectures saying that, roughly speaking, periodic cyclic homology of a smooth non-commutative algebraic variety should carry all the additional "motivic" structures possessed by the usual de Rham…

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…

A generalization of the semisimplicity concept for polyadic algebraic structures is proposed. If semisimple structures can be presented in block diagonal matrix form (resulting in the Wedderburn decomposition), a general form of polyadic…

Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configuration space. Existing approaches typically exploit such…

Physically-realistic simulated environments are powerful platforms for enabling measurable, replicable and statistically-robust investigation of complex robotic systems. Such environments are epitomised by the RoboCup simulation leagues,…

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…

The Dehn function and its higher-dimensional generalizations measure the difficulty of filling a sphere in a space by a ball. In nonpositively curved spaces, one can construct fillings using geodesics, but fillings become more complicated…

Connecting cosmological simulations to real-world observational programs is often complicated by a mismatch in geometry: while surveys often cover highly irregular cosmological volumes, simulations are customarily performed in a periodic…

We study the geometric phases of nonlinear elastic $N$-rotors with continuous rotational symmetry. In the Hamiltonian framework, the geometric structure of the phase space is a principal fiber bundle, i.e., a base, or shape…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

We classify the convex polytopes whose symmetry groups have two orbits on the flags. These exist only in two or three dimensions, and the only ones whose combinatorial automorphism group is also two-orbit are the cuboctahedron, the…

The cusp was recently shown to admit the structure of a quantum homogeneous space, that is, its coordinate ring $B$ can be embedded as a right coideal subalgebra into a Hopf algebra $A$ such that $A$ is faithfully flat as a $B$-module. In…

We review recent progress in the theoretical description of anisotropic hard colloidal particles. The shapes considered range from rods and dumbbells to rounded cubes, polyhedra and to biaxial particles with arbitrary shape. Our focus is on…

This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…

While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…

Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…

In this paper we study polycubes: orthogonal polyhedra with axis-aligned quadrilateral faces. We present a complete characterization of polycubes of any genus based on their dual structure: a collection of oriented loops which run in each…