Related papers: Using the Geometric Phase to Optimise Planar Somer…
We present an automated procedure for the design of optimal actuation for flagellar magnetic microswimmers based on numerical optimization. Using this method, a new magnetic actuation method is provided which allows these devices to swim…
We propose a novel algorithm for the fitting of 3D human shape to images. Combining the accuracy and refinement capabilities of iterative gradient-based optimization techniques with the robustness of deep neural networks, we propose a…
It is well known that any cyclic solution of a spin 1/2 neutral particle moving in an arbitrary magnetic field has a nonadiabatic geometric phase proportional to the solid angle subtended by the trace of the spin. For neutral particles with…
Copepod nauplii are larval crustaceans with important ecological functions. Due to their small size, they experience an environment of low Reynolds number within their aquatic habitat. Here we provide a mathematical model of a swimming…
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of…
Reconstructing dynamic 3D scenes from monocular video has broad applications in AR/VR, robotics, and autonomous navigation, but often fails due to severe motion blur caused by camera and object motion. Existing methods commonly follow a…
Using an experimental optimization approach, this study investigated whether two human movements, pointing tasks and squat-jumps, could be modelled with a reduced set of kinematic parameters. Three sigmoid models were proposed to model the…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…
Geometric phases are a universal concept that underpins numerous phenomena involving multi-component wave fields. These polarization-dependent phases are inherent in interference effects, spin-orbit interaction phenomena, and topological…
Using videos to analyze pitchers in baseball can play a vital role in strategizing and injury prevention. Computer vision-based pose analysis offers a time-efficient and cost-effective approach. However, the use of accessible broadcast…
Phase-shifting profilometry (PSP) enables high-accuracy 3D reconstruction but remains highly susceptible to object motion. Although numerous studies have explored compensation for motion-induced errors, residual inaccuracies still persist,…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Geometric phases arise in a number of physical situations and often lead to systematic shifts in frequencies or phases measured in precision experiments. We describe, by working through some simple examples, a method to calculate geometric…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
The polyhedral model allows a structured way of defining semantics-preserving transformations to improve the performance of a large class of loops. Finding profitable points in this space is a hard problem which is usually approached by…