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Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by…
The behaviour of a viscous drop squeezed between two horizontal planes is treated by both theory and experiment. When the squeezing force F is constant and surface tension is neglected, the theory predicts ultimate growth of the radius a~…
Building on recent developments in models focused on the shape properties of odds ratios, this paper introduces two new models that expand the class of available distributions while preserving specific shape characteristics of an underlying…
Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant directions such as "toward" or "along" the surface vary with position…
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…
We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…
Impulse propagation in crowds is a phenomenon that is crucial for understanding collective dynamics, but has been scarcely addressed so far. Therefore, we have carried out experiments in which persons standing in a crowd are pushed forward…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
Achieving an evenly distributed fertilization spread pattern is a complex technical task. A corresponding control algorithm must account for the tractor movement, the settings of the spreader, the prescribed dosage as well as machine…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
Statistical shape models enhance machine learning algorithms providing prior information about deformation. A Point Distribution Model (PDM) is a popular landmark-based statistical shape model for segmentation. It requires choosing a model…
The depinning transition of a front moving in a time-independent random potential is studied. The temporal development of the overall roughness w(L,t) of an initially flat front, $w(t)\propto t^\beta$, is the classical means to have access…
We study dynamic self-organisation and order-disorder transitions in a two-dimensional system of self-propelled particles. Our model is a variation of the Vicsek model, where particles align the motion to their neighbours but repel each…
In the present work, irregular complex joints of the human arm are modelled in the computer-aided design environment. Accurately the geometric models of the joints and surrounding bony regions are developed from computed tomography data set…
I review recent results concerning the shape of drifting subpulse patterns, and the relationship to model predictions. While a variety of theoretical models exist for drifting subpulses, observers typically think in terms of a…
We investigate discrete spin transformations, a geometric framework to manipulate surface meshes by controlling mean curvature. Applications include surface fairing -- flowing a mesh onto say, a reference sphere -- and mesh extrusion --…
This paper considers particle propagation in a cylindrical molecular communication channel, e.g. a simplified model of a blood vessel. Emitted particles are influenced by diffusion, flow, and a vertical force induced e.g. by gravity or…
Spontaneous growth of long-wavelength deformations is a defining feature of active fluids with orientational order. We investigate the effect of biaxial rectangular confinement on the instability of initially shear-aligned 3D isotropic…
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and…
Collective dynamics in proliferating anisotropic particle systems arise from an interplay between growth, division, and mechanical interactions, often mediated by particle shape. In classical models of prolate, rod-like growth, flow-induced…