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Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
Dynamical balance of excitation and inhibition is usually invoked to explain the irregular low firing activity observed in the cortex. We propose a robust nonlinear balancing mechanism for a random network of spiking neurons, which works…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Moving our hands smoothly is essential to execute ordinary tasks, such as carrying a glass of water without spilling. Past studies have revealed a natural tendency to generate smooth trajectories when moving the hand from one point to…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Biological tissues exhibit diverse mechanical and rheological behaviors during morphogenesis. While much is known about tissue phase transitions controlled by structural order and cell mechanics, key questions regarding how tissue-scale…
Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they…
Rimless wheels are known as the simplest model for passive dynamic walking. It is known that the passive gait generated only by gravity effect always becomes asymptotically stable and 1-period because a rimless wheel automatically achieves…
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-dependent motions remains limited. Existing…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
When a fluid is pumped into a cavity in a confined elastic layer, at a critical pressure, destabilizing fingers of fluid invade the elastic solid along its meniscus (Saintyves, Dauchot, and Bouchaud, 2013). These fingers occur without…
Slow dynamic nonlinearity is ubiquitous amongst brittle materials, such as rocks and concrete, with cracked microstructures. A defining feature of the behavior is the logarithmic-in-time recovery of stiffness after a mechanical…
Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and…
Designing a stabilizing controller for nonlinear systems is a challenging task, especially for high-dimensional problems with unknown dynamics. Traditional reinforcement learning algorithms applied to stabilization tasks tend to drive the…
Active polymers possess numerous unique properties that are quite different from those observed in the system of small active molecule due to the intricate interplay between their activity and topological constraints. This study focuses on…
Contraction metrics are crucial in control theory because they provide a powerful framework for analyzing stability, robustness, and convergence of various dynamical systems. However, identifying these metrics for complex nonlinear systems…
Robotic tasks often require motions with complex geometric structures. We present an approach to learn such motions from a limited number of human demonstrations by exploiting the regularity properties of human motions e.g. stability,…
We propose a new framework to discuss the transition from exponential relaxation in a liquid to the regime of slow dynamics. For the purposes of stress relaxation, we show that a liquid can be treated as an elastic medium. We discuss that,…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…