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We develop a fully data-driven model of anisotropic finite viscoelasticity using neural ordinary differential equations as building blocks. We replace the Helmholtz free energy function and the dissipation potential with data-driven…
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Use-dependent bias is a phenomenon in human sensorimotor behavior whereby movements become biased towards previously repeated actions. Despite being well-documented, the reason why this phenomenon occurs is not yet clearly understood. Here,…
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…
During plastic deformation, metals change shape while continuously becoming stronger. The microscopic origin of these processes lies in the proliferation and movement of line defects, dislocations, and the subsequent self-organisation and…
In this article an anisotropic interaction model avoiding collisions is proposed. Starting point is a general isotropic interacting particle system, as used for swarming or follower-leader dynamics. An anisotropy is induced by rotation of…
Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Motivated by the ubiquity of turbulent flows in realistic conditions, effects of turbulent advection on two models of classical non-linear systems are investigated. In particular, we analyze model A (according to the Hohenberg-Halperin…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a…
Humans can experience fake body parts as theirs just by simple visuo-tactile synchronous stimulation. This body-illusion is accompanied by a drift in the perception of the real limb towards the fake limb, suggesting an update of body…
We simulate vertically shaken dense granular packings with horizontal periodic boundary conditions. A coordinated translating motion of the whole medium emerges when the horizontal symmetry is broken by disorder or defects in the packing…
The mechanical response of elastic porous media confined within rigid geometries is central to a wide range of industrial, geological, and biomedical systems. However, current models for these problems typically overlook the role of wall…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…
Controlling the mechanical response of soft glassy materials, such as emulsions, foams, and colloidal suspensions, is key for many industrial processes. While their steady-state flow behavior is reasonably well understood, their response to…
Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…