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Dynamic facilitation theory assumes short-ranged dynamic constraints to be the essential feature of supercooled liquids and draws much of its conclusions from the study of kinetically constrained models. While deceptively simple, these…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…
Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context, Dynamic Motion Primitives offer built - in stability and…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
A limit cycle is a self-sustained periodic motion appearing in autonomous ordinary differential equations. As the period of the limit cycle is a-priori unknown, it is challenging to find them as stationary states of a rotating ansatz.…
Both natural and artificial small-scale swimmers may often self-propel in environments subject to complex geometrical constraints. While most past theoretical work on low-Reynolds number locomotion addressed idealised geometrical…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
The motion of several self-propelled boats in a narrow channel displays spontaneous pattern formation and kinetic phase transitions. In contrast with previous studies on self-propelled particles, this model does not require stochastic…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…
Dynamical topological solitons are studied in classical two-dimensional Heisenberg easy-axis ferromagnets. The properties of such solitons are treated both analytically in the continuum limit and numerically by spin dynamics simulations of…
Recent work has identified persistent cluster states which were shown to be assembled and held together by hydrodynamic interactions alone [Driscoll \textit{et al.} (2017) Nature Physics, 13(4), 375]. These states were seen in systems of…
This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for the existence of undesirable equilibria and show that the…
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these periodic motions together with the inertial properties of the…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Hardly any real self-propelling or actively driven object is perfect. Thus, undisturbed motion will generally not follow straight lines but rather circular trajectories. We here address self-propelled or actively driven objects that move in…
In dynamical systems limit cycles arise as a result of a Hopf bifurcation, after a control parameter has crossed its critical value. In this study we present a constructive method to produce dissipative dynamics which lead to stable…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…