Related papers: Shaking Force Balancing of the Orthoglide
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…
We consider the optimization of the vector of grasping forces that support a known generalized force acting on the grasped object---a rigid body or a mechanism. Working in the framework of finite-dimensional normed vector spaces and their…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…
In this article, a theoretical justification of one type of skew-symmetric optimal translational motion (moving in the minimal acceptable time) of a flexible object carried by a robot from its initial to its final position of absolute…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Aerial manipulators are increasingly used in contact-based industrial applications, where tasks like drilling and pushing require platforms to exert significant forces in multiple directions. To enhance force generation capabilities,…
Current-day data centers and high-volume cloud services employ a broad set of heterogeneous servers. In such settings, client requests typically arrive at multiple entry points, and dispatching them to servers is an urgent distributed…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The…
We consider a control problem for longitudinal vibrations of a nonhomogeneous bar with clamped ends. The vibrations of the bar are controlled by an external force which is distributed along the bar. For the minimization problem of mean…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input…
Neurological injuries and age-related decline can impair sensory processing and disrupt motor coordination, gait, and balance. As mechanisms of neuroplasticity have become better understood, vibration-based interventions have gained…