Related papers: Extending the Benefits of Parallel Elasticity acro…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
We propose a two-stage algorithm for energy-efficient resource allocation constrained to QoS and physical requirements in OFDM-based EONs. The first stage deals with routing, grooming and traffic ordering and aims at minimizing amplifier…
Though the convex optimization has been widely used in power systems, it still cannot guarantee to yield a tight (accurate) solution to some problems. To mitigate this issue, this paper proposes an ensemble learning based convex…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…
We develop a new parallel algorithm for minimizing Lipschitz, convex functions with a stochastic subgradient oracle. The total number of queries made and the query depth, i.e., the number of parallel rounds of queries, match the prior…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
In this paper, stress-constrained topology optimization is applied to the design of compliant displacement magnification mechanisms. By formulating the objective function based on the concept of effective energy, it is not necessary to…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
The promotion of large-scale applications of reinforcement learning (RL) requires efficient training computation. While existing parallel RL frameworks encompass a variety of RL algorithms and parallelization techniques, the excessively…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
This paper proposes an energy-workload coupled migration optimization strategy for virtual power plants (VPPs) with data centers (DCs) to enhance resource scheduling flexibility and achieve precise demand response (DR) curve tracking. A…
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the…
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…
In this paper, we consider the problem of scheduling an application on a parallel computational platform. The application is a particular task graph, either a linear chain of tasks, or a set of independent tasks. The platform is made of…
High-speed water entry of projectiles and diving systems induces high forces and jerk to the entering bodies due to the development of large hydrodynamic pressure. Previous research has shown separately that the peak forces can be reduced…
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top,…
Several classic problems in graph processing and computational geometry are solved via incremental algorithms, which split computation into a series of small tasks acting on shared state, which gets updated progressively. While the…
Efficient parallelism is necessary for achieving low-latency, high-throughput inference with large language models (LLMs). Tensor parallelism (TP) is the state-of-the-art method for reducing LLM response latency, however GPU communications…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…