Abstract: In a flurry of articles in the mid to late 1990s, various metrics for the group of rigidbody motions, SE(3), were introduced for measuring distance between any two reference frames or rigidbody motions. During this time, ...

Abstract: In this paper, it is shown how rigidbody kinematics can be used to assist in determining the atomic structure of proteins and nucleic acids when using xray crystallography, which is a powerful method for structure ...

Abstract: This paper introduces a pair of low-cost, light-weight, and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and ...

Abstract: Despite the rapid advance of additive manufacturing (AM) technologies in recent years, methods to fully encase objects with multilayer, thick features are still undeveloped. This issue can be overcome by printing layers ...

Abstract: For more than a century, rigid-body displacements have been viewed as affine transformations described as homogeneous transformation matrices wherein the linear part is a rotation matrix. In group-theoretic terms, this ...

Abstract: Knowing the set of allowable motions of a convex body moving inside a slightly larger one is useful in applications such as automated assembly mechanisms, robot motion planning, etc. The theory behind this is called the ...

Abstract: Modular robots have captured the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and lowcost due to mass production of ...

Abstract: This paper develops a geometric method to estimate the error space of 3-DOF planar mechanisms with the Minimum Volume Ellipsoid Enclosing (MVEE) approach. Both the joint clearances and actuator errors are considered in ...