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Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Momentum methods for convex optimization often rely on precise choices of algorithmic parameters, based on knowledge of problem parameters, in order to achieve fast convergence, as well as to prevent oscillations that could severely…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

Learning a control policy for a multi-phase, long-horizon task, such as basketball maneuvers, remains challenging for reinforcement learning approaches due to the need for seamless policy composition and transitions between skills. A…

Balls-and-bins games have been a wildly successful tool for modeling load balancing problems. In this paper, we study a new scenario, which we call the ball recycling game, defined as follows: Throw m balls into n bins i.i.d. according to a…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…

Run-and-tumble particles constitute one of the simplest models of self-propelled active matter, and provide an ideal playground to the understanding of out-of-equilibrium systems. We consider an idealized setup where one such particle is…

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…

Balls-in-bins models describe a random sequential allocation of infinitely many balls into a finite number of bins. In these models a ball is placed into a bin with probability proportional to a given function (feedback function), which…

Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory is applied to these systems and a hybrid version of Pontryagin's maximum principle is presented. This…

We analyze the impact of two equal billiard balls in three ideal situations: when the balls freely slide on the plane of the billiard, when they roll without sliding and when one of them freely slides and the other rolls. In all the cases…

Robotic cell injection is used for automatically delivering substances into a cell and is an integral component of drug development, genetic engineering and many other areas of cell biology. Traditionally, the correctness of functionality…

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…

We describe an experiment dedicated to the study of the trajectories of a ball bouncing randomly on a vibrating plate. The system was originally used, considering a sinusoidal vibration, to illustrate period doubling and the route to chaos.…

A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in several papers already. In this paper, we will describe…

In this paper, we provide a theoretical framework that separates the control and learning tasks in a linear system. This separation allows us to combine offline model-based control with online learning approaches and thus circumvent current…