Related papers: Nonprehensile Manipulation of a Stick Using Impuls…
This paper presents a non-minimal order dynamics model for many analysis, simulation, and control problems of constrained mechanical systems with switching topology by making use of linear projection operator. The distinct features of this…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
We consider two linearly coupled masses, where one mass can have inelastic impacts with a fixed, rigid stop. This leads to the study of a two degree of freedom, piecewise linear, frictionless, unforced, constrained mechanical system. The…
The invariant manifold approach is used to explore the dynamics of a nonlinear rotor, by determining the nonlinear normal modes, constructing a reduced order model and evaluating its performance in the case of response to an initial…
Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…
In this work, we introduce PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace.…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Understanding how stick-slip dynamics manifests in diverse physical conditions is a crucial topic in tribology. Although it has been extensively studied in simple frictional configurations, the characterization of stick-slip behavior in…
We study dynamics of a ball moving in gravitational field and colliding with a moving table. The motion of the limiter is assumed as periodic with piecewise constant velocity - it is assumed that the table moves up with a constant velocity…
This paper presents a trajectory tracking control strategy that modulates the active power injected by geographically distributed inverter-based resources to support transient stability. Each resource is independently controlled, and its…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance…
We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
The main objective of this paper is to present a general mathematical model and an associated numerical algorithm applicable to an arbitrary fixed-wing fixed-mass aircraft undergoing an arbitrary maneuver, based on the 3D nonlinear coupled…
We examine the stick-slip fluctuating response of a rough massive non-rotating cylinder moving on a rough inclined groove which is submitted to weak external perturbations and which is maintained well below the angle of repose. The…
This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking,…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…