Related papers: Optimal control of dielectric elastomer actuated m…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics.…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
We consider Inverse Electrical Impedance Tomography (EIT) problem on recovering electrical conductivity and potential in the body based on the measurement of the boundary voltages on the $m$ electrodes for a given electrode current. The…
Recent dynamical models, based on the seminal work of V. Hill, allow to predict the muscular response to functional electrostimulation (FES), in the isometric and non-isometric cases. The physical controls are modeled as Dirac pulses and…
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the…
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EMLAs). An EMLA model is…
We propose an optimal operation control strategy for an electro-thermal microgrid. Compared to existing work, our approach increases flexibility by operating the thermal network with variable flow temperatures and in that way explicitly…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguishes it from the other procedures for the problem. First of all a sliding…
We consider the minimum-energy control of a car, which is modelled as a point mass sliding on the ground in a fixed direction, and so it can be mathematically described as the double integrator. The control variable, representing the…
The recent discovery of electro-active polymers has shown great promises in the field of soft robotics, and was logically followed by experimental, numerical and theoretical developments. Most of these studies were concerned with systems…
The Cellular Automaton (CA) modeling and simulation of solid dynamics is a long-standing difficult problem. In this paper we present a new two-dimensional CA model for solid dynamics. In this model the solid body is represented by a set of…
Simple models for spherical particles with a soft shell have been shown to self-assemble into numerous crystal phases and even quasicrystals. However, most of these models rely on a simple pairwise interaction, which is usually a valid…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
A dielectric elastomer generator (DEG) can be used for converting mechanical energy from natural motion sources such as walking, waves, trees etc, into electrical energy. A DEG is comprised of a soft and flexible Dielectric Elastomer…
An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs between accuracy, running time, and simplicity of…
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of…
Thin dielectric elastomers with compliant electrodes exhibit various types of instability under the action of electromechanical loading. Guided by the thermodynamically-based formulation of Fosdick and Tang (J. Elasticity 88, 255-297,…
Admittance control is a commonly used strategy for regulating robotic systems, such as quadruped and humanoid robots, allowing them to respond compliantly to contact forces during interactions with their environments. However, it can lead…