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Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid…
Reinforcement learning is a subfield of machine learning that is having a huge impact in the different conventional disciplines, including physical sciences. Here, we show how reinforcement learning methods can be applied to solve…
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees.…
This article demonstrates a new approach to finding ideal bowling targeting strategies through computer simulation. To model bowling ball behaviour, a system of five coupled differential equations is derived using Euler equations for rigid…
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…
Game Theory concepts have been successfully applied in a wide variety of domains over the past decade. Sports and games are one of the popular areas of game theory application owing to its merits and benefits in solving complex scenarios.…
Legged robots promise higher versatility and the ability to traverse much more difficult terrains than their wheeled counterparts. Even though the use of legged robots have increased drastically in the last few years, they are still not…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
We discuss how to search for a possibe signal of the recently observed 750 GeV enhancement in the diphoton channel in the four-jet production. In the present studies we assume that the produced state is pseudoscalar. This fact, when…
We extend the four-dimensional unsubtraction method, which is based on the loop-tree duality (LTD), to deal with processes involving heavy particles. The method allows to perform the summation over degenerate IR configurations directly at…
Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
In many dynamic robotic tasks, such as striking pucks into a goal outside the reachable workspace, the robot must first identify the relevant physical properties of the object for successful task execution, as it is unable to recover from…
Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the object's landing location, irrespective of…
Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering.…
We examine the impact of several factors on electron acceleration by a laser pulse and the resulting electron energy gain. Specifically, we consider the role played by: 1) static longitudinal electric field; 2) static transverse electric…
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…
The jet Trimming procedure has been demonstrated to greatly improve event reconstruction in hadron collisions, by mitigating contamination due initial state radiation, multiple interactions, and event pileup. Meanwhile, Qjets -- a…
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…