The classical Fourier transform is one of the most widely used mathematical tools in
engineering. However, few engineers know that extensions of harmonic analysis to …

Focuses on modeling and control of a light-weight and inexpensive pneumatic robot that can
be used for position tracking and for end-effector force control. Unlike many previous …

Hyper-redundant manipulators present an alternative to conventional 6 DOF manipulators
for inspection, space, and medical applications. The additional degrees of freedom facilitate …

Concentric tube robots exhibit complex workspaces due to the way their component tubes
bend and twist as they interact with one another. This paper explores ways to compute and …

Concentric tube continuum robots provide an infinite-dimensional design space, consisting
of individual tube space curves and other tube parameters. Even when design choices are …

In this work, the concept of a convolution product of real-valued functions on the special
Euclidean group, SE (D)(which describes all rigid body motions in D-dimensional Euclidean …

Rather than working in a continuous range of motion, binary actuators can only maintain two
positions. This lack of flexibility is compensated by high accuracy, repeatability, and …

Binary actuators have only two discrete states (denoted “0” and “1”), both of which are stable
without feedback. As a result, binary mechanisms and manipulators have a finite number of …

In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of
discretely actuated manipulator arms with many degrees of freedom. Our only assumption is …

Sliding-frame mobile robots used for autonomously inspecting metallic structures consist of
two bodies connected by few joints. They move by alternately adhering one body to the …