Related papers: Constrained motion design with distinct actuators …

Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…

For a given external loading on a structure we consider the optimal stresses. Ignoring the material properties the structure may have, we look for the distribution of internal forces or stresses that is in equilibrium with the external…

Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…

The rapidly developing robotics industry demands structures with novel mechanical functions. Traditional approaches, developing new materials and designing new structures, face two challenges. Highly complex force-displacement functions can…

This paper seeks to address how to solve non-smooth convex and strongly convex optimization problems with functional constraints. The introduced Mirror Descent (MD) method with adaptive stepsizes is shown to have a better convergence rate…

Nature has engineered complex designs to achieve advanced properties and functionalities through evolution, over millions of years. Many organisms have adapted to their living environment producing extremely efficient materials and…

In many scenarios -- when we bite food or during a crash -- fracture is inevitable. Finding solutions to steer fracture to mitigate its impact or turn it into a purposeful functionality, is therefore crucial. Strategies using composites,…

When human participants repeatedly encounter a velocity-dependent force field that distorts their movement trajectories, they adapt their motor behavior to recover straight trajectories. Computational models suggest that adaptation to a…

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…

Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…

Collective adaptive systems are an emerging class of networked computational systems, particularly suited in application domains such as smart cities, complex sensor networks, and the Internet of Things. These systems tend to feature large…

For constrained system which has several independent first integrals, we give a new stabilization method which named adjustment-stabilization method. It can stabilize all known constants of motion for a given dynamical system very well…

Dynamics of the structured particles consisting of potentially interacting material points is considered in the framework of classical mechanics. Equations of interaction and motion of structured particles have been derived. The expression…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

We study a continuum model of dislocation transport in order to investigate the formation of heterogeneous dislocation patterns. We propose a physical mechanism which relates the formation of heterogeneous patterns to the dynamics of a…

The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…

This article explores the design and experimentation of a neural network architecture capable of dynamically adjusting its internal structure based on the input data. The proposed model introduces a routing mechanism that allows each layer…

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…

Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…

This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…