Flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micropositioner. The design of SA FPMs consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mechanism. This paper focuses on the SA ...

Quantum switch is a primitive element in quantum network communication. In contrast to previous switch schemes on one degree of freedom (DOF) of quantum systems, we consider controlled switches of photon system with two DOFs. These controlled photon switches are constructed by exploring the optical selection rules derived from the quantum-dot spins in one-sided optical microcavities. Several do...

Building a basketball robot is a recently launched project at the Institute of Automatic Control Engineering (LSR) for investigating fast manipulation with non-negligible dynamics and changing contact situation. This video presents some preliminary results of the project which is balancing a basketball on a plate. An aluminium plate of which the size is 25 × 40 cm is mounted on the end-effector...

The contribution to spatial awareness of adding a roll degree-of-freedom (DOF) to telepresence camera platform yaw and pitch was examined in an experiment where subjects judged direction and rotation of stationary target markers in a remote scene. Subjects viewed the scene via head-slaved camera images in a head-mounted display. Elimination of the roll DOF affected rotation judgment, but only a...

Motion estimation in the presence of spatial uncertainties is essentially nonlinear. A 3D motion estimation problem has a Degree of Freedom (DoF) = 6. The scalar problem can be easily decomposed to two independent DoF = 3 subproblems, where the rotation matrix and the translation vector can be assessed respectively. However in the case of introducing anisotropic measurement uncertainties this c...

In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid...

This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamin...

We present an optimization-based motion planning algorithm for high degree-of-freedom (DOF) robots in dynamic environments. Our formulation decomposes the highdimensional motion planning problem into a sequence of low-dimensional sub-problems. We compute collision-free and smooth paths using optimization-based planning and trajectory perturbation for each sub-problem. The high-DOF robot is trea...

In this paper, we propose a limited feedback transmission based on precoding mechanism for multiple-input multiple-output (MIMO) systems, referred as to supermode transmission. With a fixed data-rate, it allows different degree-of-freedom (DoF) depending on the current channel state information (CSI) and different transmission scheme with the same DoF. Through numerical examples, we show that t...