Advances in the Mathematics of Robotics

1.Robots for Nuclear Decommissioning.- 2.From Maps to Mechanisms.- 3.Origami Design for Continously Foldable Uniaxial Bases.- 4.Model-based and learning approaches to cloth manipulation by robots.- 5.Kinematic synthesis over curves using cellular decompositions and Chebyshev interpolants.- 6.On flexes associated with higher-order fl exible bar-joint frameworks.- 7.Rigid-body motions characterized via the Sannia frame on ruled surfaces.- 8.Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra.- 9.Geometric analysis of generic 3R robots, and necessary and suffi cient conditions for a class of orthogonal robots to have four IKS.- 10.A Constrained Saddle Search Approach for Constructing Singular and Flexible Bar Frameworks.- 11.Bifurcations and Equivariant Morse Theory.- 12.Singly-periodic pointed pseudotriangulations have an expansive motion.- 13.Reorientating a linked three sphere swimmer to a target.- 14.Analysis of a Cuspidal 6R Robot.- 15.A cubic product of exponentials (POE) spline cannot exactly reconstruct a cubic curve on SE(3).- 16.A library of open chain linkage dynamics.- 17.Sixth-order singularities of the 3RR planar pentad mechanism.- 18.Distortion Bounds of Subdivision Models for SO(3).