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Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a…
The motion of a vertically positioned bicycle is considered when a horizontal control force, which maybe both internal and external in relation to the bicycle, is applied to its pedal. Tangential forces of dryfriction obeying the Euler {…
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the ball's frame of reference. The normal…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these…
Conventionally, a microscopic particle that performs a reciprocal stroke cannot move through its environment. This is because at small scales, the response of simple Newtonian fluids is purely viscous and flows are time-reversible. We show…
The Hamiltonian dynamics of a single particle in a rotating plasma column, interacting with an magnetic multipole is perturbatively solved for up to second order, using the method of Lie transformations. First, the exact Hamiltonian is…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
We present a minimal quasistatic 1D model describing the kinematics of the transition from static friction to stick-slip motion of a linear elastic block on a rigid plane. We show how the kinematics of both the precursors to frictional…
This study investigates the influence of aerofoil shape optimisation on blade aerodynamic performance under curvilinear and unsteady kinematics characteristic of vertical-axis turbines and cycloidal propellers. Using a cyclorotor in hover…
Treatises on vibrations devote large space to study the dynamical behavior of an elastic system subject to known external tractions. In fact, usually a "system" is not an isolated body but it is part of a chain of mechanisms which disturb…
Using numerical simulations we investigate the transverse depinning of moving vortex lattices interacting with random disorder. We observe a finite transverse depinning barrier for vortex lattices that are driven with high longitudinal…
Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces…
Dynamical stability is a prerequisite for control and functioning of desired nano-machines. We utilize the Caldeira-Leggett master equation to investigate dynamical stability of molecular cogwheels modeled as a rigid, propeller-shaped…