Related papers: Mod\'elisation Dynamique d'un Robot Parall\`ele \`…
This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the limitations of the state-of-the-art model-based wrench…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
The manipulation of deformable linear objects (DLOs) via model-based control requires an accurate and computationally efficient dynamics model. Yet, data-driven DLO dynamics models require large training data sets while their predictions…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
The parallel orbital-updating approach is an orbital/eigenfunction iteration based approach for solving eigenvalue problems when many eigenpairs are required. It has been proven to be efficient, for instance, in electronic structure…
Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…