Related papers: Efficiency Optimization of a Two-link Planar Robot…
Resourceful operation and design of robots is key for sustainable industrial automation. This will be enabled by lightweight design along with time and energy optimal control of robotic manipulators. Design and control of such systems is…
Spring-driven jumping robots use an energised spring for propulsion, while the onboard motor only serves as a spring-charging source. A common mechanism in designing these robots is the rhomboidal linkage, which has been combined with…
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that…
We propose an optimization strategy to control the dynamics of a stochastic system transferred from one thermal equilibrium to another and apply it experimentally to a Brownian particle in an optical trap under compression. Based on a…
In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
The transition to electric transportation demands efficient and cost-effective powertrains. Optimizing energy use is crucial for extending range and reducing expenses. However, comparing inverter and motor efficiency based on inverter…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
Airborne wind energy systems aim to generate renewable energy by means of the aerodynamic lift produced by a wing tethered to the ground and controlled to fly crosswind paths. The problem of maximizing the average power developed by the…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
In this paper we consider wireless energy transfer for a point-to-point link. The energy transmitter sees a finite number of independent channel realizations, and, armed with (causal) knowledge of the channels, must decide how much energy…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
With dramatic breakthroughs in recent years, machine learning is showing great potential to upgrade the toolbox for power system optimization. Understanding the strength and limitation of machine learning approaches is crucial to decide…
A flying trapeze act can be a challenging task for a robotics system since some act requires the performer to catch another trapeze or catcher at the end after being airborne. The objective of this paper is to design and validate a motion…
Mobile robot fleets are currently used in different scenarios such as medical environments or logistics. The management of these systems provides different challenges that vary from the control of the movement of each robot to the…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
This paper considers the allocation of time slots in a frame, as well as power and rate to multiple receivers on an energy harvesting downlink. Energy arrival times that will occur within the frame are known at the beginning of the frame.…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…