Despite their contributions to the financial efficiency and environmental sustainability of
industrial processes, robotic assembly and disassembly have been understudied in the …

The work is inspired by the assembly of Soma block puzzles. Soma block puzzles usually
include unstable intermediate states that require additional support to maintain stability …

A novel unified approach to jointly optimize structural design parameters, actuator and
sensor precision, and controller parameters is presented in this paper. The joint optimization …

This paper proposes a model-based approach to control the shape of a tensegrity system by
driving its node position locations. The nonlinear dynamics of the tensegrity system is used …

V této diplomové práci se věnujeme problematice použití tensegritních konstrukcí v
průmyslové robotice. Součástí práce je rešerše současného poznání na poli tensegrit. Pro …

In this paper, we relaxed the structural limitations on the plan imposed by the plan templates
used in the previous paper. We apply the generic hierarchical planning scheme to the …