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Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
The biomechanical studies have proposed several forward fall arresting strategies to reduce the impact forces in a human-robot collaboration environment. A proposed strategy is using a compliant flooring for an environment because it can…
We consider the problem of detecting jumps in an otherwise smoothly evolving trend whilst the covariance and higher-order structures of the system can experience both smooth and abrupt changes over time. The number of jump points is allowed…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
Model rockets have been employed in student projects, but very few papers in aerospace education offer concise summaries of activities at university-course levels. This paper aims to address this gap in the literature. The rockets used by…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also…
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control…
We describe a new framework for fitting jump models to a sequence of data. The key idea is to alternate between minimizing a loss function to fit multiple model parameters, and minimizing a discrete loss function to determine which set of…
The recently introduced detected-jump correcting quantum codes are capable of stabilizing qubit-systems against spontaneous decay processes arising from couplings to statistically independent reservoirs. These embedded quantum codes exploit…
The experimental design for a generalized linear model (GLM) is important but challenging since the design criterion often depends on model specification including the link function, the linear predictor, and the unknown regression…
Feedback control in open quantum dynamics is crucial for the advancement of various coherent platforms. However, currently only a handful of feedback master equations exist in the literature, which are restricted to specific types of…
Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
Transportation agencies need to assess ramp metering performance when deploying or expanding a ramp metering system. The evaluation of a ramp metering strategy is primarily centered around examining its impact on freeway traffic mobility.…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
A detailed set of experiments are described that capture over a 1000 different instances of the bounce of a golf ball. Video analysis is used to capture velocity and spin immediately prior to and subsequent to each bounce for a wide variety…