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Fixed degree-of-freedom (DoF) loading mechanisms often suffer from excessive actuators, complex control, and limited adaptability to dynamic tasks. This study proposes an innovative mechanism of underactuated metamorphic loading…
Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach for real-time control. In LMPC, an optimization problem…
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
We propose and experimentally demonstrate a feedback control method that allows synchronizing the motion of a chain of several coupled nonlinear oscillators actuated through one end of the chain. The chain considered in this work is a…
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling between lift and attitude, resembling…
The human neuromuscular system consisting of skeletal muscles and neural circuits is a complex system that is not yet fully understood. Surface electromyography (EMG) can be used to study muscle behavior from the outside. Computer…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
In this research, we present an innovative method known as a physics-informed neural network (PINN) model to predict multi-joint kinematics using electromyography (EMG) signals recorded from the muscles surrounding these joints across…
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthroughs. Compared to traditional model-based control…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
Multi-modal magnetic resonance imaging (MRI) provides information of lesions for computer-aided diagnosis from different views. Deep learning algorithms are suitable for identifying specific anatomical structures, segmenting lesions, and…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…