Manual derivation of the dynamic model of a modular robot is almost impossible because it may have very different geometries and DOFS through module reconfiguration. This paper presents an algorithm to automatically generate the closed-form equation of motion of a modular robot from a kinematic graph based representation of the assembly configuration. We consider modular robots with the more ge...

Origami processes can generate both rigid and compliant structures from the same homogeneous sheet material. In this article, we advance origami robotics literature by showing that it is possible to construct an arbitrary kinematic chain with prescribed joint compliance a single tubular sheet. Our “Kinegami” algorithm converts Denavit–Hartenberg specification into single-sheet crease pattern fo...

We compute the chains associated to the left-invariant CR structures on the three-sphere. These structures are characterized by a single real modulus a. For the standard structure a = 1, the chains are well-known and are closed curves. We show that for almost all other values of the modulus a either two or three types of chains are simultaneously present : (I) closed curves, (II) quasi-periodic...

Problem definition: We study the sales planning problem of a producer who sells new and remanufactured versions durable good over finite life cycle. investigate whether slowing down product diffusion by choosing to partially satisfy demand might be profitable for producer. Academic/practical relevance: provide insights into management in closed-loop supply chains uncovering role key market char...

An application of OSCAR – a generalized robotic software framework – for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing and criteria-based decision-making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures and multi...