In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that rep...

Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan-act paradigm, however more recently robots are working with a sense-plan-act-verify paradigm. In this work we present a principled methodology to bootstrap robot...

In this paper, we aim to use a continuous formulation efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is minimum distance from wrench space origin boundary of space. Considering L∞ nonlinear friction cone model, challenge calculating determine Instead relying on convex hull construction, propose formulate as functions. By doing so, problem qual...

Stability analysis for multi-fingered robotic grasping is often formalized as the problem of answering the following questions: can the hand exert contact forces on the object either without a net resultant wrench (thus loading the contacts while creating purely internal forces) or in order to counterbalance an external disturbance (by applying an equal and opposite wrench). However, some of th...

The dimeric ring-shaped sliding clamp of E. coli DNA polymerase III (beta subunit, homolog of eukaryotic PCNA) is loaded onto DNA by the clamp loader gamma complex (homolog of eukaryotic Replication Factor C, RFC). The delta subunit of the gamma complex binds to the beta ring and opens it. The crystal structure of a beta:delta complex shows that delta, which is structurally related to the delta...

Cartesian control algorithms are presented for 6-dof force-reflecting hand-controllers (FRHCs) used for simultaneous operator pose (position and orientation) or rate commands to a telerobotic system and wrench (force/moment) reflection to the operator. The master and slave need not be kinematically-similar because the information is transferred in Cartesian space. The task wrench dominates whil...

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