Related papers: Slow Limb Movements Require Precise Control of Mus…
Thin fluid or elastic films and membranes are found in nature and technology, for instance, as confinements of living cells or in loudspeakers. When applying a net force, resulting flows in an unbounded two-dimensional incompressible…
The motor cortex (MC) is often described as an autonomous dynamical system during movement execution. In an autonomous dynamical system, flexible movement generation depends on reconfiguring the initial conditions, which then unwind along…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
We study a Markov random process describing a muscle molecular motor behavior. Every motor is either bound up with a thin filament or unbound. In the bound state the motor creates a force proportional to its displacement from the neutral…
Collective cell migration plays a crucial role in many developmental processes that underlie morphogenesis, wound healing, or cancer progression. In such coordinated behaviours, cells are organised in coherent structures and actively…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
How can precise control be realised in intrinsically noisy systems? Here, we develop a general theoretical framework that provides a way to achieve precise control in signal-dependent noisy environments. When the control signal has Poisson…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
We study well-posedness, stabilization and control problems involving freely vibrating beams that may undergo motions of large magnitude -- i.e. large displacements of the reference line and large rotations of the cross sections. Such…
This article is concerned with stability analysis and stabilization of randomly switched nonlinear systems. These systems may be regarded as piecewise deterministic stochastic systems: the discrete switches are triggered by a stochastic…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
Slow dynamic nonlinearity describes a poorly understood, creep-like phenomena that occurs in brittle composite materials such as rocks and cement. It is characterized by a drop in stiffness induced by a mechanical conditioning, followed by…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
Stability is a fundamental concept that refers to a system's ability to return close to its original state after disturbances. The minimal conditions for stability when system parameters vary in time, though common in physics, have been…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
We consider a control system describing the interaction of water waves with a partially immersed rigid body constraint to move only in the vertical direction. The fluid is modeled by the shallow water equations. The control signal is a…
The determination of the stiffness center of a machine tool is a major element for knowing the dynamic behavior of this one. This stiffness center can be obtained from a static characterization of the machine tool. For an operation of…