Flexible robot links challenge the rigid-body assumption, making joint measurements alone insufficient for accurate manipulation. This paper introduces a flexibility-aware manipulation framework that connects structural dynamics directly to sensing, kinematics, and control. Instead of prescribing a dense inertial measu...
A. H. Barjini, S. Yaqubi, P. Mustalahti et al.· 0 citations
This paper presents a mixed discrete-continuous multiobjective bilevel framework for the structure-actuation co-design of all-electric heavy-duty robotic manipulators. The upper level optimizes manipulator geometry and actuation topology, while joint-specific lower-level searches construct feasible archives of discrete...
Mohammad Bahari, A. H. Barjini, J. Mattila· 0 citations
Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure Differential Mapping (PACDM) framework for modular closure resolution and kinematic reduction. Each closure element compares two ordered tran...
Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path-based motion reconstruction with recovery of uniquely determined actuator and joint-wrench outputs. Analytical second-order differentiation...
Physically connected humanoids need consistent dynamics for internal actuator loops, inter-robot forces, and changing ground supports. We extend RoboCompiler with member-wise dynamics assembly, compiling reduced dynamics from rigid bodies, moving actuator parts, and reflected rotor inertias. Compiled body Jacobians and...
RobCompiler is presented, a graph-native framework that compiles a canonical mechanism graph into a shared mechanical interface that assembles feasible configurations through rank-checked continuation and correction and demonstrates task performance and model reuse under native contact.
Mehdi Heydari Shahna, Joongheon Kim, J. Mattila· 3 citations
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