3 accepted papers
This paper addresses a specialized kinematic synthesis problem: designing a manipulator capable of following a specific trajectory of end-effector positions and orientations with minimal actuators. This requires optimizing the robot's kinematic parameters and solving inverse kinematics to ensure its
This letter presents a novel stepwise multi-agent task planning method that incorporates neighborhood search to address large-scale problems, thereby reducing computation time. With an increasing number of agents, the search space for task planning expands exponentially. Hence, conventional methods
In this paper, we propose objective functions to estimate the principal contact between a unknown manipulated target object and its unknown surroundings from the motion of the object. We derived the objective functions based on the fact that contact involves a pair of geometrical primitives (a point…