3 accepted papers
The configuration spaces of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. Projection onto smaller spaces of engineering relevance, such as an output workspace or an input actuator space, these folds cast edges that e…
Polar linkages have two degrees-of-freedom (DOF) where one input joint angle controls the length of a radial segment while another controls its angle. Considering a theoretical planar robot model, this mapping between joint angles to output motions can be shown to be energetically advantageous over…
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of (i) three points and one line and (ii) three points and two lines through two of the points. These problems are too difficult to be efficiently…