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This paper analyzes the suitability of a beamed propulsion concept having properties consistent with the impulse gravity generator described by Podkletnov et al. [physics/0108005]. The use of this propulsion concept for orbital maneuver,…
We present a data-driven basketball set play simulation. Given an offensive set play sketch, our method simulates potential scenarios that may occur in the game. The simulation provides coaches and players with insights on how a given set…
Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system.…
We elaborate on the presymplectic BV-AKSZ approach to local gauge theories and apply it to conformal gravity. More specifically, we identify a compatible presymplectic structure on the minimal model of the total BRST complex of this theory…
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists…
This study focuses on the rotation of the hips and shoulders during a baseball bat swing, analyzing the time-series changes in rotational angles, rotational velocities, and axes using marker position data obtained from a motion capture…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the…
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…
We investigate the problem of determining the shape of a rotating celestial object - e.g., a comet or an asteroid - under its own gravitational field. More specifically, we consider an object symmetric with respect to one axis - such as a…
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…
This paper presents the design and implementation of an AI vision-controlled orthotic hand exoskeleton to enhance rehabilitation and assistive functionality for individuals with hand mobility impairments. The system leverages a Google Coral…
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…