Related papers: Trajectory Tracking Using Motion Primitives for th…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
In this paper we study the motion of a rigid body driven by Newton's law immersed in a stationary incompressible Stokes flow occupying a bounded simply connected domain. The aim is that of trajectory tracking of the solid by the means of a…
Understanding the stochastic dynamics of tracer particles in active fluids is important for identifying the physical properties of flow generating objects such as colloids, bacteria or algae. Here, we study both analytically and numerically…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
We introduce a simple framework for learning aggressive maneuvers in flight control of UAVs. Having inspired from biological environment, dynamic movement primitives are analyzed and extended using nonlinear contraction theory. Accordingly,…
A three-dimensional model of a low-Reynold's swimmer is introduced and analyzed in this paper. This model consists of two large and small spheres connected by two perpendicular thin rods. The geometry of this system is motivated by the…
In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…
We investigate a self-organized swimmer at low Reynolds numbers. The microscopic swimmer is composed of three spheres that are connected by two identical active linker arms. Each linker arm contains molecular motors and elastic elements and…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
The connection between swimming and control theory is attracting increasing attention in the recent literature. Starting from an idea of Alberto Bressan [7] we study the system of a planar body whose position and shape are described by a…
Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
We discuss the path of a tracer particle as a microswimmer moves past on an infinite straight trajectory. If the tracer is sufficiently far from the path of the swimmer it moves in a closed loop. As the initial distance between the tracer…
In isotropic fluids like water, micrometer-scale swimmers have evolved swim strokes to translate despite their tiny size. As described by Purcell in his Scallop Theorem, reciprocal motions, like those performed by a scallop, cannot drive…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
For over fifty years, the dynamical systems perspective has had a prominent role in evolutionary biology and economics, through the lens of game theory. In particular, the study of replicator differential equations on the standard…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
We design and simulate the motion of a new swimmer, the {\it Quadroar}, with three dimensional translation and reorientation capabilities in low Reynolds number conditions. The Quadroar is composed of an $\texttt{I}$-shaped frame whose body…