Related papers: Mod\'elisation Dynamique d'un Robot Parall\`ele \`…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On…
Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivates the need for automatic methods that extract task-specific,…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
In many real-world settings, image observations of freely rotating 3D rigid bodies, such as satellites, may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
The purpose of this article is to compute the normal form of a class of general quadratic Hamiltonian systems that generalizes naturally Euler's equations from the free rigid body dynamics.
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
An effective method to obtain exact analytical solutions of equations describing the coherent dynamics of multilevel systems is presented. The method is based on the usage of orthogonal polynomials, integral transforms and their discrete…
The direct kinematics analysis is the foundation of implementation of real world application of parallel manipulators. For most parallel manipulators the direct kinematics is challenging. In this paper, for the first time a fast and…
his paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint…
In this work, we examine a spectrum of hybrid model for the domain of multi-body robot dynamics. We motivate a computation graph architecture that embodies the Newton Euler equations, emphasizing the utility of the Lie Algebra form in…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…