Related papers: Mechanical Optimization of Skateboard Pumping
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
This paper presents an analytical framework to study the geometry arising when a soft continuum arm grasps a planar object. Both the arm centerline and the object boundary are modeled as smooth curves. The grasping problem is formulated as…
Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight…
Metachronal paddling is a swimming strategy in which an organism oscillates sets of adjacent limbs with a constant phase lag, propagating a metachronal wave through its limbs and propelling it forward. This limb coordination strategy is…
The unique working mechanics of roller-type peristaltic pumps have allowed their applications to span a wide variety of sectors and industries. The roller-type pump's accurate dosing and hydrostatic capabilities can theoretically allow for…
The bang-bang optimal control method was proposed for glow discharge plasma actuators, taking account of practical issues, such as limited actuation states with instantaneously varied aerodynamic control performance. Hence, the main…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Certain spatial distributions of water inside partially filled containers can significantly reduce the bounce of the container. In experiments with containers filled to a volume fraction $\phi$, we show that rotation offers control and high…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
In match race sailing, competitors must steer their boats upwind in the presence of unpredictably evolving weather. Combined with the tacking motion necessary to make upwind progress, this makes it natural to model their path-planning as a…
This paper describes algorithms for the animation of men and women performing three dynamic athletic behaviors: running, bicycling, and vaulting. We animate these behaviors using control algorithms that cause a physically realistic model to…
The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption…
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through…
An adjoint-based optimization is applied to study the thrust performance of a pitching-rolling ellipsoidal plate in a uniform stream at Reynolds number 100. To achieve the highest thrust, the optimal kinematics of pitching-rolling motion is…
We show that transport in the presence of entropic barriers exhibits peculiar characteristics which makes it distinctly different from that occurring through energy barriers. The constrained dynamics yields a scaling regime for the particle…
An artificial microswimmer drifts in response to spatio-temporal modulations of an activating suspension medium. We consider two competing mechanisms capable of influencing its tactic response: angular fluctuations, which help it explore…
Natural swimmers rely for their survival on sensors that gather information from the environment and guide their actions. The spatial organization of these sensors, such as the visual fish system and lateral line, suggests evolutionary…
Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The…