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

This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…

While neural representations for static 3D shapes are widely studied, representations for deformable surfaces are limited to be template-dependent or lack efficiency. We introduce Canonical Deformation Coordinate Space (CaDeX), a unified…

Motivated by the $\Omega$-spectrum proposal of unique gapped ground states by Kitaev, we study adiabatic cycles in gapped quantum spin systems from various perspectives. We give a few exactly solvable models in one and two spatial…

Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…

In this article, we extend the methods from arXiv:2011.06568, where the five dimensional analogue of the three dimensional finite energy foliations introduced by Hofer--Wysocki--Zehnder was identified, to the case where there the underlying…

This paper considers the shape formation problem within the 3D hybrid model, where a single agent with a strictly limited viewing range and the computational capacity of a deterministic finite automaton manipulates passive tiles through…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

This paper examines a family of designs for magnetic cubes and counts how many configurations are possible for each design as a function of the number of modules. Magnetic modular cubes are cubes with magnets arranged on their faces. The…

A combinatorial model of molecular conformational space that was previously developped (J. Gabarro-Arpa, Comp. Biol. and Chem. 27, (2003) 153-159), had the drawback that structures could not be properly embedded beacause it lacked explicit…

Building blocks and tiles are an excellent way of learning about geometry and mathematics in general. There are several versions of tiles that are either snapped together or connected with magnets that can be used to introduce topics like…

We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven non-holonomic wheels to produce continuous and unlimited spherical…

This thesis intends to make a contribution to the theories of algebraic cycles and moduli spaces over the real numbers. In the study of the subvarieties of a projective algebraic variety, smooth over the field of real numbers, the cycle…

Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…

In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

It has recently been realised that polystable, holomorphic sums of line bundles over smooth Calabi-Yau three-folds provide a fertile ground for heterotic model building. Large numbers of phenomenologically promising such models have been…

This article defines a pair of combinatorial operations on the combinatorial structure of compact right-angled hyperbolic polyhedra in dimension three called decomposition and edge surgery. It is shown that these operations simplify the…

This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have…

Cubic blocks are studied assembled from linear operators $\mathcal R$ acting in the tensor product of $d$ linear "spin" spaces. Such operator is associated with a linear transformation $A$ in a vector space over a field $F$ of a finite…