Related papers: A Framework to Illustrate Kinematic Behavior of Me…
We introduce a framework of opto-mechanical systems that are driven with a mildly amplitude modulated light field, but that are not subject to classical feedback or squeezed input light. We find that in such a system one can achieve large…
Panoptic tracking enables pixel-level scene interpretation of videos by integrating instance tracking in panoptic segmentation. This provides robots with a spatio-temporal understanding of the environment, an essential attribute for their…
We study a method to simulate quantum many-body dynamics of spin ensembles using measurement-based feedback. By performing a weak collective measurement on a large ensemble of two-level quantum systems and applying global rotations…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
We introduce a general framework, based on collision models and discrete CP-maps, to describe on an equal footing coherent and measurement-based feedback control of quantum mechanical systems. We apply our framework to prominent tasks in…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
The sense of touch, being the earliest sensory system to develop in a human body [1], plays a critical part of our daily interaction with the environment. In order to successfully complete a task, many manipulation interactions require…
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
The \textit{Spirit} framework is designed for atomic scale spin simulations of magnetic systems of arbitrary geometry and magnetic structure, providing a graphical user interface with powerful visualizations and an easy to use scripting…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
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…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
If we admit that quantum mechanics (QM) is universal theory, then QM should contain also some description of classical mechanical systems. The presented text contains description of two different ways how the mathematical description of…
Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…
Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…
The ability to construct, use, and revise models is a crucial experimental physics skill. Many existing frameworks describe modeling in science education at introductory levels. However, most have limited applicability to the context of…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…