1 “...Peasants, laborers, intellectuals, career soldiers, medics, priests...” this was the diverse crew in attendance at the now almost legendary premier of Olivier Messiaen’s Quartet for the End of Time (Golèa 63). It was a crowd that was hardly knowledgeable about Messiaen’s stylistically unique approaches to composition – most of them probably knew little about music at all.Yet approximately...

In this paper, the coupling between Jacobian learning and task sequencing through the redundancy approach is studied. It is well known that visual servoing is robust to modeling errors in the jacobian matrices. This justifies why jacobian estimation does not usually degrade the system convergence. However, we show that this is not true anymore when the redundancy formalism is used. In this case...

We present a new approach to path planning, called the \Ariadne's clew algorithm". It is designed to nd paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments | ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called search and explore, applied in an interleaved manner. ex...

Machine supervision on parallel robots demand a powerful online singularity loci prediction. To detect the entrance of the end-effector on direct kinematic singularities that constrain the internal workspace is not trivial for parallel robots with five or six degrees of freedom. This paper presents a strategy to safely drive a Hexa parallel robot out of direct singularity regions based an index...

In the framework of a lattice-model study of protein folding, we investigate the interplay between designability, thermodynamic stability, and kinetics. To be \protein-like", heteropolymers must be thermodynamically stable, stable against mutating the amino-acid sequence, and must be fast folders. We nd two criteria which, together, guarantee that a sequence will be \protein like": i) the groun...

This paper is concerned with the design and implementation of control strategies onto a test-bed vehicle with six degrees-of-freedom. We design our trajectories to be efficient in time and in power consumption. Moreover, we also consider cases when actuator failure can arise and discuss alternate control strategies in this situation. Our calculations are supplemented by experimental results.

 In this paper the flexible cable robot tracking is controlled using optimal feedback linearization method. Feedback linearization is used to control the robot within a predefined trajectory while its controlling gains are optimized using LQR method to achieve the maximum payload of the endeffector in presence of flexibilities. Required motors’ torque and tracking error caused by flexibility ...

The study deals with the automatic chamfering for the case of hole on a free curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering pat...