Related papers: A novel partially-decoupled translational parallel…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Three dimensional (3D) topology optimization problems always involve huge numbers of Degrees of Freedom (DOFs) in finite element analysis (FEA) and design variables in numerical optimization, respectively. This will inevitably lead to large…
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics are critical for the low-level control of joint torques. We…
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
A plethora of diverse aspect mechanisms exist today, all of which integrate concerns into artifacts that exhibit crosscutting structure. What we lack and need is a characterization of the design space that these aspect mechanisms inhabit…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
The Dynamic Mode Decomposition (DMD) is a Koopman-based algorithm that straightforwardly isolates individual mechanisms from the compound morphology of direct measurement. However, many may be perplexed by the messages the DMD structures…
The Fast Multipole Method (FMM) computes pairwise interactions between particles with an efficiency that scales linearly with the number of particles. The method works by grouping particles based on their spatial distribution and…
Basing on a modification of the "Dichotomy Algorithm" (Terekhov, 2010), we propose a parallel procedure for solving tridiagonal systems of equations with Toeplitz matrices. Taking the structure of the Toeplitz matrices, we may substantially…
Studies of the degrees of freedom or "synergies" in musculoskeletal systems rely critically on algorithms to estimate the "dimension" of kinematic or neural data. Linear algorithms such as principal component analysis (PCA) are used almost…
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…
This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent online replanning. To address these challenges, we propose a…
Neural operators, which aim to approximate mappings between infinite-dimensional function spaces, have been widely applied in the simulation and prediction of physical systems. However, the limited representational capacity of network…
Reduced-order models are essential tools to deal with parametric problems in the context of optimization, uncertainty quantification, or control and inverse problems. The set of parametric solutions lies in a low-dimensional manifold (with…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks…