Jun Watanabe | Searcharxiv

arXiv2023

A Mobile Quad-Arm Robot ARMS: Wheeled-Legged Tripedal Locomotion and Quad-Arm Loco-Manipulation

This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be general-purpose arms for the hybrid locomotion and loco-manipulation. One three-degree-of-freedom (DOF) arm has an active wheel, which is used for wheeled-legged tripedal walking and wheeled driving with passive wheels attached to the torso. Two three-DOF general-purpose arms are series elastic and used for wheeled-legged tripedal walking, object grasping, and manipulation. The upper two-DOF arm is used for manipulation only; its position and orientation are determined by coordinating all arms. Each motor is controlled by an angle controller and trajectory modification with angle, angular velocity, angular acceleration, and torque constraints. ARMS was verified with seven experiments involving joint control, wheeled-legged locomotion, wheeled locomotion and grasping, slope locomotion, block terrain locomotion, carrying a bag, and outdoor locomotion.

cs.RO↗

arXiv2019

Fibered Cusp b-Pseudodifferential Operators and its Applications

Let $X$ be a smooth compact manifold with corners which has two embedded boundary hypersurfaces $\partial_0 X , \partial_1 X$, and a fiber bundle $\phi:\partial_0 X \to Y$ is given. By using the method of blowing up, we define a pseudodifferential culculus $\Psi ^* _{\Phi,b} (X)$ generalizing the $\Phi$-calculus of Mazzeo and Melrose and the (small) $b$-calculus of Melrose. We discuss the Fredholm condition of such operators and prove the relative index theorem. And as its application, the index theorem of "non-closed" $\mathbb{Z}/k$ - manifolds is proved.

math.DG↗