Related papers: Basis Function feedforward for Position-Dependent …
Multivalent cargo that can interact with substrates via multiple interaction sites exhibit shared characteristics despite being found in different systems at different length-scales. Here, a general analytical model has been developed that…
In many cases, it is more profitable to apply existing methodologies than to develop new ones. This holds, especially, for system development within the cyber-physical domain: until a certain abstraction level we can (re)use the…
Unknown nonlinear dynamics often limit the tracking performance of feedforward control. The aim of this paper is to develop a feedforward control framework that can compensate these unknown nonlinear dynamics using universal function…
Recent progress on vision-language foundation models have brought significant advancement to building general-purpose robots. By using the pre-trained models to encode the scene and instructions as inputs for decision making, the…
As countries interact more and more, technology gains a decisive role in facilitating today's increased need for interconnection. At the same time, systems, becoming more advanced as technology progresses, feed each other and can produce…
Multi-scale structures are prevalent in both natural and artificial systems, as they can handle increasing complexity. Several terms are employed almost interchangeably across various application domains to refer to the multi-scale concept…
Foundation Models are designed to serve as versatile embedding machines, with strong zero shot capabilities and superior generalization performance when fine-tuned on diverse downstream tasks. While this is largely true for language and…
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally…
We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…
Bias in recommender systems not only distorts user experience but also perpetuates and amplifies existing societal stereotypes, particularly in sectors like fashion e-commerce. This study employs a dynamic modeling approach to scrutinize…
The way we communicate with autonomous cars will fundamentally change as soon as manual input is no longer required as back-up for the autonomous system. Maneuver-based driving is a potential way to allow still the user to intervene with…
Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…
This article establishes the foundation for a new theory of invariant/integral manifolds for non-autonomous dynamical systems. Current rigorous support for dimensional reduction modelling of slow-fast systems is limited by the rare events…
Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…
Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…
This contribution is concerned with the motion planning for underactuated Euler-Bernoulli beams. The design of the feedforward control is based on a differential parametrization of the beam, where all system variables are expressed in terms…
This paper deals with the stabilization of a coupled system composed by an infinite-dimensional system and an ODE. Moreover, the control, which appears in the dynamics of the ODE, is subject to a general class of nonlinearities. Such a…
A key step in control of precision mechatronic systems is Frequency Response Function (FRF) identification. The aim of this paper is to illustrate relevant developments and solutions for FRF identification for advanced motion control.…