Related papers: Robotic manipulation of a rotating chain

We apply a meron cluster algorithm to the XY spin chain, which describes a quantum rotor. This is a multi-cluster simulation supplemented by an improved estimator, which deals with objects of half-integer topological charge. This method is…

The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…

We study experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a…

In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…

We present a novel general model that unifies the kinematics of constant curvature and constant twist continuum manipulators. Combining this kinematics with energy-based physics, we derive a linear mapping from actuator configuration to…

In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is…

Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…

The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…

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 present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…

The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

We outline a method for controlling the location of stable and unstable manifolds in the following sense. From a known location of the stable and unstable manifolds in a steady two-dimensional flow, the primary segments of the manifolds are…

Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

In this study, we conduct experimental investigations on the behavior of confined self-propelled particles within a circular arena, employing small commercial robots capable of locomotion, communication, and information processing. These…

This paper is concerned with the study of the rolling without slipping of a dynamically symmetric (in particular, homogeneous) heavy ball on a cone which rotates uniformly about its symmetry axis. The equations of motion of the system are…