Abstract: In this paper, a rolling mechanism constructed by a spatial 8bar linkage is proposed. The eight links are connected with eight revolute joints, forming a single closedloop with two degrees of freedom (DOF). By kinematic ...

Abstract: This paper presents a novel underactuated tetrahedral mobile robot with 12 degrees-of-freedom (DOFs). The robot contains four vertices and six URU chains (where U represents a universal joint and R represents an actuated ...

Abstract: Monotone paths are useful in many engineering design applications. In this paper, we address the problem of answering monotone descent path queries on terrains that are continually changing. A terrain can be represented ...

Abstract: Additive manufacturing allows a direct fabrication of any sophisticated mechanism when the clearance of each joint is sufficiently large to compensate the fabrication error, which frees the designers of cumbersome assembly ...