We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven nonholonomic wheels to produce continuous and unlimited spherical motions. We analyse the kinematic interface between a sphere and n arbitrarily positioned, steered and driven non-holonomic wheels in the general case. We also pr...

In this paper we consider the mobile robot parking problem, i.e., the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. We take into account the practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle. This constraint, often neglected in the literature, ...

A theorem from control theory relating the Lie algebra generated by vector fields on a manifold to the controllability of the dynamical system is shown to apply to Holonomic Quantum Computation. Conditions for deriving the holonomy algebra are presented by taking covariant derivatives of the curvature associated to a non-Abelian gauge connection. When applied to the Optical Holonomic Computer, ...