Related papers: Design of a Parallel Elastic Actuator with a Conti…
In order to solve the problem of stable jumping of micro robot, we design a special mechanism: elastic passive joint (EPJ). EPJ can assist in achieving smooth jumping through the opening-closing process when the robot jumps. First, we…
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…
Entity alignment (EA) aims to find equivalent entities in different knowledge graphs (KGs). State-of-the-art EA approaches generally use Graph Neural Networks (GNNs) to encode entities. However, most of them train the models and evaluate…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
This paper presents results about fabrication and operation of electrostatic actuators in liquids with various permittivities. In the static mode, we provide experimental and theoretical demonstration that the pull-in effect can be shifted…
On-policy reinforcement learning (RL) algorithms are widely used for their strong asymptotic performance and training stability, but they struggle to scale with larger batch sizes, as additional parallel environments yield redundant data…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Polymer electrolytes (PEs) are promising candidates for use in next-generation high-voltage batteries, as they possess advantageous elastic and electrochemical properties. However, PEs still suffer from low ionic conductivity and need to be…
Modern reconfigurable architectures are increasingly favored for resource-constrained edge devices as they balance high performance, energy efficiency, and programmability well. However, their proficiency in handling regular compute…
A new method of direct adaptive pole placement control (APPC) is developed for plants with unmatched uncertainty, which linearly depends on a state vector. It guarantees the exponential stability of a control system and exponential…
The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE)…
By taking full advantage of Computing, Communication and Caching (3C) resources at the network edge, Mobile Edge Computing (MEC) is envisioned as one of the key enablers for the next generation networks. However, current fixed-location MEC…
The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…
Physical processes evolving in both time and space are often modeled using Partial Differential Equations (PDEs). Recently, it has been shown how stability analysis and control of coupled PDEs in a single spatial variable can be more…
Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to…
Robotic systems driven by conventional motors often suffer from challenges such as large mass, complex control algorithms, and the need for additional braking mechanisms, which limit their applications in lightweight and compact robotic…
Movable antennas (MAs) offer additional spatial degrees of freedom (DoFs) to enhance communication performance through local antenna movement. However, to achieve accurate and fast antenna movement, MA drivers entail non-negligible…