Related papers: Stiffness Analysis of Overconstrained Parallel Man…
Hybrid parallelism techniques are essential for efficiently training large language models (LLMs). Nevertheless, current automatic parallel planning frameworks often overlook the simultaneous consideration of node heterogeneity and dynamic…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space…
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…
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…
This paper studies the aeroelasticity of a stiffened cantilever plate using composite material and novel structural layouts. A comprehensive parametric study is conducted to determine the influence of different design parameters on the…
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…
A new approach for generating stress-constrained topological designs in continua is presented. The main novelty is in the use of elasto-plastic modeling and in optimizing the design such that it will exhibit a linear-elastic response. This…
Disordered network materials abound in both nature and synthetic situations while rigorous analysis of their nonlinear mechanical behaviors still is very challenging. The purpose of this paper is to connect the mathematical framework of…
Word alignment over parallel corpora has a wide variety of applications, including learning translation lexicons, cross-lingual transfer of language processing tools, and automatic evaluation or analysis of translation outputs. The great…
This paper presents a novel model order reduction technique tailored for power systems with a large share of inverter-based energy resources. Such systems exhibit an increased level of dynamic stiffness compared to traditional power…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…