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

We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while…

For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project.Thus, any type of task that falls…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

In this article we describe cell decompositions of the moduli space of Riemann surfaces and their relationship to a Hurwitz problem. The cells possess natural linear structures and with respect to this they can be described as rational…

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…

For a binary quadratic form $Q$, we consider the action of $\mathrm{SO}_Q$ on a two-dimensional vector space. This representation yields perhaps the simplest nontrivial example of a prehomogeneous vector space that is not irreducible, and…

Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…

Given a topological ring $R$, we study semitopological $R$-modules, construct their completions, Bohr and borno modifications. For every topological space $X$, we construct the free (semi)topological $R$-module over $X$ and prove that for a…

Dense packings have served as useful models of the structure of liquid, glassy and crystal states of matter, granular media, heterogeneous materials, and biological systems. Probing the symmetries and other mathematical properties of the…

A cubic polyhedron is a polyhedral surface whose edges are exactly all the edges of the cubic lattice. Every such polyhedron is a discrete minimal surface, and it appears that many (but not all) of them can be relaxed to smooth minimal…

We review the present state of the art in using the endohedral fullerenes N@C60 and P@C60 as qubits in a spin quantum computer. After a brief introduction to spin quantum computing, we first discuss the rich spin structure of these…

We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…

This paper is concerned with a covering problem of Euclidean space by a particular arrangement of cones that are not necessarily full and are allowed to overlap. The problem provides an equivalent geometric reformulation of the solvability…

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…

Modular microrobotics can potentially address many information-intensive microtasks in medicine, manufacturing and the environment. However, surface area has limited the natural powering, communication, functional integration, and…

Polyhedral meshes (PM) - meshes having planar faces - have enjoyed a rise in popularity in recent years due to their importance in architectural and industrial design. However, they are also notoriously difficult to generate and manipulate.…

We review the regular tilings of d-sphere, Euclidean d-space, hyperbolic d-space and Coxeter's regular hyperbolic honeycombs (with infinite or star-shaped cells or vertex figures) with respect of possible embedding, isometric up to a scale,…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…