Related papers: Oscillation Damping Control of Pendulum-like Manip…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
A Swinging Atwood Machine (SAM) is built and some experimental results concerning its dynamic behaviour are presented. Experiments clearly show that pulleys play a role in the motion of the pendulum, since they can rotate and have…
A submerged body subject to a sudden shape-change experiences large forces due to the variation of added-mass energy. While this phenomenon has been studied for single actuation events, application to sustained propulsion requires studying…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…
In this work, a nonlinear momentum method is introduced to enhance the convergence performance of momentum-based gradient optimization algorithms. Classical momentum methods, such as the Heavy Ball method, can be viewed as a dynamical…
We explore the rotational stability of hovering flight. Our model is motivated by an experimental pyramid-shaped object and a computational lambda-shaped analog hovering passively in oscillating airflows; both systems have been shown to…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
We propose a scheme to squeeze mechanical motion and to entangle optical field with mechanical motion in an optomechanical system containing a parametric amplification. The scheme is based on optical bistability which emerges in the system…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…