相关论文: Computer-Aided Design of Rational Motions for 4R a…
Compositional video generation aims to synthesize multiple instances with diverse appearance and motion. However, current approaches mainly focus on binding semantics, neglecting to understand diverse motion categories specified in prompts.…
We present a new algorithm to decompose generic spinor polynomials into linear factors. Spinor polynomials are certain polynomials with coefficients in the geometric algebra of dimension three that parametrize rational conformal motions.…
The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Since its introduction in 2012, the factorization theory for rational motions quickly evolved and found applications in theoretical and applied mechanism science. We provide an accessible introduction to motion factorization with many…
This paper investigates the construction of rational motions of a minimal quaternionic degree that generate a prescribed plane trajectory (a ``rational torse''). Using the algebraic framework of dual quaternions, we formulate the problem as…
In this paper, we give several simple methods for drawing a whole rational surface (without base points) as several Bezier patches. The first two methods apply to surfaces specified by triangular control nets and partition the real…
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…
Generating diverse and natural human motion is one of the long-standing goals for creating intelligent characters in the animated world. In this paper, we propose a self-supervised method for generating long-range, diverse and plausible…
Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the design methods described in the literature as…
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…
Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…
When a moving frame defined along a space curve is required to keep an axis aligned with the tangent direction of motion, the use of rotation-minimizing frames (RMF) avoids unnecessary rotations in the normal plane. The construction of…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Synthesis of quaternary quantum circuits involves basic quaternary gates and logic operations in the quaternary quantum domain. In this paper, we propose new projection operations and quaternary logic gates for synthesizing quaternary logic…
In this paper, we introduce LINKS, a dataset of 100 million one degree of freedom planar linkage mechanisms and 1.1 billion coupler curves, which is more than 1000 times larger than any existing database of planar mechanisms and is not…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
Generative AI is revolutionizing engineering design practices by enabling rapid prototyping and manipulation of designs. One example of design manipulation involves taking two reference design images and using them as prompts to generate a…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…