Related papers: The Optimization of a Novel Prismatic Drive
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
A common way to manipulate heavy objects is to maintain at least one point of the object in contact with the environment during the manipulation. When the object has a cylindrical shape or, in general, a curved edge, not only sliding and…
This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed,…
The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are…
We introduce a novel algorithm to perform event-driven simulations of hard rigid bodies of arbitrary shape, that relies on the evaluation of the geometric distance. In the case of a monodisperse system of uniaxial hard ellipsoids,we perform…
This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…
Mobile machines using a hydrostatic transmission is highly efficient under lower working-speed condition but less capable at higher transport velocities. To enhance overall efficiency, we have improved the powertrain design by combining a…
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Learning a latent dynamics model provides a task-agnostic representation of an agent's understanding of its environment. Leveraging this knowledge for model-based reinforcement learning (RL) holds the potential to improve sample efficiency…
Human motion retargeting for humanoid robots, transferring human motion data to robots for imitation, presents significant challenges but offers considerable potential for real-world applications. Traditionally, this process relies on human…
Inspired by the Boltzmann kinetics, we propose a collision-based dynamics with a Monte Carlo solution algorithm that approximates the solution of the multi-marginal optimal transport problem via randomized pairwise swapping of sample…
A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the…
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…