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This study proposes a self-learning algorithm for closed-loop cylinder wake control targeting lower drag and lower lift fluctuations with the additional challenge of sparse sensor information, taking deep reinforcement learning as the…
The influence of the bending rigidity of a flexible heaving wing on its propulsive performance in a two-dimensional imposed parallel flow is investigated in the inviscid limit. Potential flow theory is used to describe the flow over the…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
This paper focuses on a drag-reducing control strategy on a 2D-simulated laminar flow past a cylinder. Deep reinforcement learning algorithms have been implemented to discover efficient control schemes, using two synthetic jets located on…
Morphing wings comprised of fixed leading sections with piezocomposite trailing control surfaces have emerged as a novel active control technique for unmanned aerial vehicles. However, the wake dynamics and aerodynamic performance of such…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and…
Flapping animal flight is often modeled as a combined pitching and heaving motion in order to investigate the unsteady flow structures and resulting forces that could augment the animal's lift and propulsive capabilities. This work isolates…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
This paper presents a new active power control algorithm designed to maximize the power reserve of the individual turbines in a farm, in order to improve the tracking accuracy of a power reference signal. The control architecture is based…
Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…
Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…
This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…
Effects of chord-wise flexibility as an instrument to control chaotic transitions in the wake of a flexible flapping foil have been studied here using an immersed boundary method-based in-house fluid-structure-interaction solver. The…
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
Dynamic soaring enables sustained flight by extracting energy from wind shear, yet it is commonly understood as a cycle-level maneuver that assumes stable flow conditions. In realistic unsteady environments, however, such assumptions are…