Related papers: On Improved Commutation for Moving-Magnet Planar A…
The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially…
The movable antenna (MA) is a promising technology to exploit more spatial degrees of freedom for enhancing wireless system performance. However, the MA-aided system introduces the non-convex antenna distance constraints, which poses…
This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered…
Movable antenna (MA) has been recently proposed as a promising candidate technology for the next generation wireless communication systems due to its significant capability of reconfiguring wireless channels via antenna movement. In this…
Fluid antennas (FAs) and movable antennas (MAs) have emerged as promising technologies in wireless communications, which offer the flexibility to improve channel conditions by adjusting transmit/receive antenna positions within a spatial…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Six-dimensional movable antenna (6DMA) is an effective solution for enhancing wireless network capacity through the adjustment of both 3D positions and 3D rotations of distributed antennas/antenna surfaces. Although freely…
Multi-Rotor Aerial Vehicles (MRAVs) are increasingly used in communication-dependent missions where connectivity loss directly compromises task execution. Existing anti-jamming strategies often decouple motion from communication,…
Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In this work, we propose a novel Nonlinear Model Predictive…
Movable antenna (MA) introduces a new degree of freedom for future wireless communication systems by enabling the adaptive adjustment of antenna positions. Its large-range movement renders wireless channels transmission into the near-field…
This paper presents a polarization-aware movable antenna (PAMA) framework that integrates polarization effects into the design and optimization of movable antennas (MAs). While MAs have proven effective at boosting wireless communication…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
Movable antenna (MA) has emerged as a promising technology to enhance wireless communication performance by exploiting the new degree of freedom (DoF) via antenna position optimization. In this letter, we investigate the MA-enhanced wide…
Active metamaterials are a type of metamaterial with tunable properties enabled by structural reconfigurations. Existing active metamaterials often achieve only a limited number of structural reconfigurations upon the application of an…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…