Related papers: Efficiency Optimization of a Two-link Planar Robot…
Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…
Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as part of the reward function. This requires carefully tuning…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
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…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
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…
We study the optimal exergy efficiency and power for thermodynamic systems with Onsager-type "current-force" relationship describing the linear-response to external influences. We derive, in simple analytic forms, the maximum efficiency and…
This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
With the tremendous increase of the Internet traffic, achieving the best performance with limited resources is becoming an extremely urgent problem. In order to address this concern, in this paper, we build an optimization problem which…
In this paper, we propose an optimization framework for the powertrain design of a two-wheel-driven electric superbike, minimizing energy consumption. Specifically, we jointly optimize the force distribution between the wheels with the gear…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
For systems in an externally controllable time-dependent potential, the optimal protocol minimizes the mean work spent in a finite-time transition between two given equilibrium states. For overdamped dynamics which ignores inertia effects,…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
The dependence on finite reserves of raw materials and the production of waste are two unsolved problems of the traditional linear economy. Healthcare, as a major sector of any nation, is currently facing them. Hence, in this paper, we…