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The paper Automatic visual bag-of-words for online robot navigation and mapping by T. Nicosevici and R. Garcia (IEEE Trans. Robot., vol. 28, no. 4, pp. 886898, Aug. 2012) proposed an algorithm for robot navigation and mapping. In this paper, we correct some errors in their analysis.
High precision rotational alignment is of key importance in micro/nanopositioning or micromanipulating applications. This paper presents a novel rotary micropositioning stage with remote center of motion (RCM) characteristic. Compared with conventional rotary guiding mechanism, the proposed double-parallelogram mechanism (DPM) possesses pure rotational motion along with a compact structure. Based...
Multi-axis force sensors have been investigated for several decades, but existing multi-axis force sensors are limited in range by their resolutions. They are sensitive to noises, when subjected to signal draft, and they are still relatively expensive. To address these problems, this paper presents the conceptual design of a novel two-dimensional force sensor capable of resolving two perpendicular...
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot...
A novel design of passive spherical metamorphic joint is proposed in this paper, the special mechanism of this design allows multi links to be connected together to do spherical motion about a rotation center. The main contribution of the joint design is the offset parallelogram mechanism and a couple door joints, which can overcomes efficiently the inherent defect from the conventional spherical...
The research on the base of Quadric Error Metrics (QEM) has provided some excellent eclectic methods of model approximation and time cost for mesh simplification. However, there are still some deficiencies in these methods to be settled, such as ignoring some important features and excessive simplification in some parts of the model, etc. To preserve the important geometric features, the paper has...
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