Related papers: Trajectory Tracking Using Motion Primitives for th…
We investigate the translational motion of rotating colloidal systems at moderate Reynolds numbers (Re), focusing on particle dimers in snowman-like configurations under three scenarios: (i) two co-rotating spheres driven by an external…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…
We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a…
Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot model capable of swinging between different bars. The robot's design is based on a four-link underactuated structure. We propose an offline trajectory…
We explore the mechanism underlying the anomalous rheology of puller-type microswimmer suspensions through direct hydrodynamic simulations. Puller-type swimmers generate contractile flow fields along their swimming direction, leading to…
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…
This paper focuses on the mechanism of propulsion of a Purcell swimmer whose segments are magnetized and react to an external magnetic field applied into the fluid. By an asymptotic analysis, we prove that it is possible to steer the…
It has been known for some time that some microorganisms can swim faster in high-viscosity gel-forming polymer solutions. These gel-like media come to mimic highly viscous heterogeneous environment that these microorganisms encounter…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
Active particles such as swimming bacteria or self-propelled colloids are known to spontaneously organize into fascinating large-scale dynamic structures. The emergence of these collective states from the motility pattern of the individual…
Biological flyers and swimmers navigate in unsteady wake flows using limited sensory abilities and actuation energies. Understanding how vortical structures can be leveraged for energy-efficient navigation in unsteady flows is beneficial in…
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model…
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the…
The primary purpose of this study is to investigate the system modeling of a nanoquadcopter as well as designing position and trajectory control algorithms, with the ultimate goal of testing the system both in simulation and on a real…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous terrains, such as those with gaps or obstacles, presents a…
Guiding active microswimmers by external fields to requested target locations is a promising strategy to realize complex transport on the microscale. To this end, one possibility consists of attaching the microswimmers to orientable passive…