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Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place…
Quantum metrology exploits quantum correlations in specially prepared entangled or other non-classical states to perform measurements that exceed the standard quantum limit. Typically though, such states are hard to engineer, particularly…
Quantum physics was invented to account for two fundamental features of measurement results -- their discreetness and randomness. Emblematic of these features is Bohr's idea of quantum jumps between two discrete energy levels of an atom.…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
A quantum system driven by a weak deterministic force while under strong continuous energy measurement exhibits quantum jumps between its energy levels (Nagourney et al., 1986, Sauter et al., 1986, Bergquist et al., 1986). This celebrated…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This study offers an interdisciplinary approach to movement technique analysis, designed to deal with intensive interaction between an environment and a trainee. The free-fall stage of skydiving is investigated, when aerial maneuvers are…
Hydraulic jumps occur commonly in natural channels and energy dissipation systems of hydraulic structures in the violent transition from supercritical to subcritical flows. They are characterised by large flow aeration, high turbulence and…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion…
We study the design problems of state observers and tracking controllers for a class of hybrid systems whose state jumps. The idea is to utilize the well-known method of gluing the jump set (a part of domain where the jumps take place) onto…
When a falling chain strikes a surface, it can accelerate downwards faster than free-fall. This counterintuitive effect occurs when a tension is created in the chain above where it strikes the surface. The size of this tension, and how it…
The design of a system and its implementation are two tasks often carried out by different individuals on a development team, and can occur weeks or months apart. This creates a potential for divergence between real behavior and the…
The proper choice of a measurement technique that minimizes systematic and random uncertainty is an essential part of experimental physics. These issues are difficult to teach in the introductory laboratory, though: because most experiments…
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
In this paper, we further investigate the problem of selecting a set of design points for universal kriging, which is a widely used technique for spatial data analysis. Our goal is to select the design points in order to make simultaneous…
We consider the dynamics of a 1D system evolving according to a deterministic drift and randomly forced by two types of jumps processes, one representing an external, uncontrolled forcing and the other one a control that instantaneously…
Tire mounted sensors are emerging as a promising technology, capable of providing information about important tire states. This paper presents a survey of the state-of-the-art in the field of smart tire technology, with a special focus on…