Related papers: Three-Dimensional Dynamic Modeling and Motion Anal…
This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by taking advantage of the Koopman operator representation. We…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
To understand the governing mechanisms of bio-inspired swimming has always been challenging due to intense interactions between the flexible bodies of natural aquatic species and water around them. In this paper, we employ advanced modal…
Fish locomotion emerges from a diversity of interactions among deformable structures, surrounding fluids and neuromuscular activations, i.e., fluid-structure interactions (FSI) controlled by fish's motor systems. Previous studies suggested…
In fluid physics, data-driven models to enhance or accelerate solution methods are becoming increasingly popular for many application domains, such as alternatives to turbulence closures, system surrogates, or for new physics discovery. In…
Active matter has been widely studied in recent years because of its rich phenomenology, whose mathematical understanding is still partial. We present some results, based on [8, 17] linking microscopic lattice gases to their macroscopic…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…
Model-based control for robots has increasingly been dependent on optimization-based methods like Differential Dynamic Programming and iterative LQR (iLQR). These methods can form the basis of Model-Predictive Control (MPC), which is…
Freeze-out procedure accepted in the model of 3-fluid dynamics (3FD) is analyzed. This procedure is formulated in terms of drain terms in hydrodynamic equations. Dynamics of the freeze-out is illustrated by 1-dimensional simulations. It is…
Consider briefly the equations of fluid dynamics-they describe the enormous wealth of detail in all the interacting physical elements of a fluid flow-whereas in applications we want to deal with a description of just that which is…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Median fins of fish-like swimmers play a crucial role in linear acceleration and maneuvering processes. However, few research focused on untethered robotic fish experiments. Imitating the behaviour of real tuna, we developed a free-swimming…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
An unsteady three-dimensional boundary element method is developed to provide fast calculations of biological and bio-inspired self-propelled locomotion. The approach uniquely combines an unsteady three-dimensional boundary element method,…
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile…
Fish schooling is often modeled with self-propelled particles subject to phenomenological behavioral rules. Although fish are known to sense and exploit flow features, these models usually neglect hydrodynamics. Here, we propose a novel…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…