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We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
Mathematical descriptions of dynamical systems are deeply rooted in topological spaces defined by non-Euclidean geometry. This paper proposes leveraging structure-rich geometric spaces for machine learning to achieve structural…
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
We consider a body immersed in a perfect gas, moving under the action of a constant force E along the x axis . We assume the gas to be described by the mean-field approximation and interacting elastically with the body, we study the…
Experimentalists now measure intense rotations of Lagrangian particles in turbulent flows by tracking their trajectories and Lagrangian-average velocity gradients at high Reynolds numbers. This paper formulates the dynamics of an…
We give a critical analysis of the conceptual foundations of special relativity. We formulate a simple operational criterion for distinguishing between noninertial and inertial frames which is introduced prior to geometry. We associate the…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
A natural geometric framework is proposed, based on ideas of W. M. Tulczyjew, for constructions of dynamics on general algebroids. One obtains formalisms similar to the Lagrangian and the Hamiltonian ones. In contrast with recently studied…
We argue that in the general relativistic calculation of planetary orbits, the choice of a reference frame which is an obligatory condition in the Newtonian approach is replaced by an appropriate boundary condition on the solution of…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our…
Modeling of a wide class of physical phenomena, such as crystal growth and flame propagation, leads to tracking fronts moving with curvature-dependent speed. When the speed is the curvature this leads to one of the classical degenerate…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
When a set of particles are moving in a potential field, two aspects are concerned: 1) the relative motion of particle in spatial domain; 2) the particle velocity variations in time domain. The difficulty on treating the systems is…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…