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When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Scientific analysis often relies on the ability to make accurate predictions of a system's dynamics. Mechanistic models, parameterized by a number of unknown parameters, are often used for this purpose. Accurate estimation of the model…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…
The potential for complex systems to exhibit tipping points in which an equilibrium state undergoes a sudden and often irreversible shift is well established, but prediction of these events using standard forecast modeling techniques is…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
The aim of this paper is to present a novel physics-based framework for the identification of dynamical systems, in which the physical and structural insights are reflected directly into a backpropagation-based learning algorithm. The main…
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…
This research unravels the stationary or transitionary dilemma of hybrid technologies in transitions processes. A system dynamics technology interaction framework is built and simulated based on Technological Innovation System and…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…
State transition algorithm (STA) has been emerging as a novel stochastic method for global optimization in recent few years. To make better understanding of continuous STA, a matlab toolbox for continuous STA has been developed. Firstly,…
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of…