We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan …
H Xu, E Knoop, S Coros, M Bächer - ACM Transactions on Graphics …, 2018 - dl.acm.org
Elastically deforming wire structures are lightweight, durable, and can be bent within minutes using CNC bending machines. We present a computational technique for the …
This article presents redundancy resolution and disturbance rejection via torque optimization in hybrid cable-driven robots (HCDRs). To begin with, we present a redundant …
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective …
T Takahashi, HG Okuno - 2018 IEEE/RSJ International …, 2018 - ieeexplore.ieee.org
This paper presents the design and implementation of a preliminary version of a programmable drawing automaton (PDA-0) that draws a user-specified 3D trajectory. PDA-0 …
T Minagawa, Y Ochiai - International Conference on Human-Computer …, 2021 - Springer
We propose an attachment creation framework that allows foot access to existing physical interfaces designed to use hands such as doorknobs. The levers, knobs, and switches of …
Abstract Unilaterally Actuated Robots (UAR) s are a class of robots defined by an actuation that is constrained to a single sign. Cable robots, grasping, fixturing and tensegrity systems …
The 2010s saw the democratisation of digital fabrication technologies. Although this phenomenon made fabrication more accessible, physical assemblies displaying a complex …
A robot design has the potential for numerous combinations of the components such as the actuators, links, joints, etc. Therefore, a process of finding a good design is a challenging …