Abstract. As a continuation of a previous work on linearization of class C 1 of diffeomorphisms and flows in infinite dimensions near a fixed point, in this work we deal with the case of a saddle point with some non-resonance restrictions for the linear part. Our result can be seen as an extension of results by P. Hartman [2] and Aronson, Belitskii and Zhuzhoma [1] in dimension two. We also present an application to a system of nonlinear wave equations.

Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence of common object sets that have been shared among different research groups. However, the existing object sets are very limited when it comes to cloth-like objects that have unique particularities and challenges. This paper is a first step towards the design of a cloth object set to be distributed among research groups from the robotics cloth manipulation community. We present a set of household cloth objects and related tasks that serve to expose the challenges related to gathering such an object set and propose a roadmap to the design of common benchmarks in cloth manipulation tasks, with the intention to set the grounds for a future debate in the community that will be necessary to foster benchmarking for the manipulation of cloth-like objects. Some RGB-D and object scans are collected as examples for the objects in relevant configurations and shared in http://www.iri.upc.edu/groups/perception/ClothObjectSet/

Abstract-In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant but, unfortunately, these rearrangements are only valid for Stewart-Gough platforms containing rigid components. In this work, the authors go a step further presenting singularity-invariant leg rearrangements that can be applied to any Stewart-Gough platform whose base and platform attachments are coplanar. The practical consequences of the presented theoretical results are illustrated with several examples including well-known architectures.