Related papers: Stiffness Analysis Of Multi-Chain Parallel Robotic…
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather…
With the development of multi-layer elastic systems in the field of engineering mechanics, the corresponding variational inequality theory and algorithm design have received more attention and research. In this study, a class of equivalent…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Applications of free-flying robots range from entertainment purposes to aerospace applications. The control algorithm for such systems requires accurate estimation of their states based on sensor feedback. The objective of this paper is to…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
Asynchronous Federated Learning (AFL) has emerged as a significant research area in recent years. By not waiting for slower clients and executing the training process concurrently, it achieves faster training speed compared to traditional…
The article is aimed to address a mutually boosting use of asymptotic analysis and machine learning, for fast stiffness design of configurations infilled with smoothly-varying graded microstructures. The discussion is conducted in the…
The determination of the mobility of parallel mechanisms (PM) is a fundamental problem. An automatic and intelligent analysis platform will be a significant tool for the design and optimization of mechanical systems. Based on the theory of…
Friction modeling plays a crucial role in achieving high-precision motion control in robotic operating systems. Traditional static friction models (such as the Stribeck model) are widely used due to their simple forms; however, they…
The modelling of heterogeneous and architected materials poses a significant challenge, demanding advanced homogenisation techniques. However, the complexity of this task can be considerably simplified through the application of micropolar…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…
We present a machine-learning strategy for finite element analysis of solid mechanics wherein we replace complex portions of a computational domain with a data-driven surrogate. In the proposed strategy, we decompose a computational domain…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
We discuss in details a modified variational matrix-product-state algorithm for periodic boundary conditions, based on a recent work by P. Pippan, S.R. White and H.G. Everts, Phys. Rev. B 81, 081103(R) (2010), which enables one to study…