Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of
a manipulator so that the end effector moves to a desired position; IK can be applied in many …

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 …

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 …

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 …

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 …