Related papers: Pendulum Actuated Spherical Robot: Dynamic Modelin…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
In this paper we study the self-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads connected by a rod or a spring; the rod's/spring's length is changing periodically. The…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
Active matter systems use their internal or ambient source of energy and dissipate them at the scale of individual constituent particles to generate motion. Direct measurement of the energy influx for individual particles has not been…
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…