Related papers: Geometric interpretation of the general POE model …
In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
At the forefront of state-of-the-art human alignment methods are preference optimization methods (*PO). Prior research has often concentrated on identifying the best-performing method, typically involving a grid search over hyperparameters,…
Algorithms are presented for the tanh- and sech-methods, which lead to closed-form solutions of nonlinear ordinary and partial differential equations (ODEs and PDEs). New algorithms are given to find exact polynomial solutions of ODEs and…
Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD)…
Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder…
This paper addresses the problem of 2D pose representation during unsupervised 2D to 3D pose lifting to improve the accuracy, stability and generalisability of 3D human pose estimation (HPE) models. All unsupervised 2D-3D HPE approaches…
Marine ecosystem models are developed to understand and simulate the biogeochemical processes involved in marine ecosystems. Parekh, Follows and Boyle introduced the $PO_4$-$DOP$-$Fe$ model of the coupled phosphorus and iron cycles in 2005.…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
The study of parameter-dependent partial differential equations (parametric PDEs) with countably many parameters has been actively studied for the last few decades. In particular, it has been well known that a certain type of parametric…
A well-specified parametrization for single-input/single-output (SISO) linear port-Hamiltonian systems amenable to structure-preserving supervised learning is provided. The construction is based on controllable and observable normal form…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
This paper addresses the problem of identifying parsimonious explicit piece-wise polynomial relationships that might involve a relatively large number of raw features. The algorithm leverages a recently proposed identification algorithm…
This paper proposes a novel geometric method for analytically determining the base inertial parameters of robotic systems. The rigid body dynamics is reformulated using projective geometric algebra, leading to a new identification model…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
It is widely recognized that the existing parameter estimators and adaptive controllers for robot manipulators are extremely complicated to be of practical use. This is mainly due to the fact that the existing parameterization includes the…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
The Ehrhart polynomial of a lattice polytope $P$ encodes information about the number of integer lattice points in positive integral dilates of $P$. The $h^\ast$-polynomial of $P$ is the numerator polynomial of the generating function of…
Modern machine learning algorithms crucially rely on several design decisions to achieve strong performance, making the problem of Hyperparameter Optimization (HPO) more important than ever. Here, we combine the advantages of the popular…
Solving partial differential equations (PDEs) can be prohibitively expensive using traditional numerical methods. Deep learning-based surrogate models typically specialize in a single PDE with fixed parameters. We present a framework for…