Recent Papers
Instant Grasping Framework of Textured Objects Via Precise Point Matches and Normalized Target Poses
Abstract To reliably manipulate previously unknown objects in semi-structured environments, robots require rapid deployments and seamless transitions in pose estimation and grasping. This work proposes
Ranking Static Balancing Methods Based on the Actuating Frictional Effort
Abstract When a linkage is statically balanced, the effort required to actuate it quasi-statically in the absence of friction is zero. This is true irrespective
Improving Exoskeleton Brace Design: Alleviating Misalignment and Parasitic Forces
Abstract This article presents a design methodology for exoskeleton-user connection attachments, i.e., braces that aim to reduce parasitic forces and potentially improve user comfort. The
Automated Task-Based Approach to Modular Manipulator Design: Position Accuracy and Heavy Payload Capacity Requirements
Abstract In this article, we present a framework that automatically selects a modular manipulator structure based on a user-defined task involving 3D trajectory tracking, handling
Design and Autonomous Obstacle-Crossing Strategy of a Reconfigurable Closed-Chain Legged Robot
Abstract A closed-chain legged robot with a reconfigurable trunk is designed, and its continuous and collision-free obstacle-crossing strategy is presented to enhance terrain adaptability and
A New Method for Motion-Decoupling Identification of Parallel Mechanisms
Abstract Motion-decoupling identification (MDI) for parallel mechanism (PM) is a significant issue in the analysis and design of PMs. In general, people use the Jacobian
