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In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
Particles in rotating saddle potentials exhibit precessional motion which, up to now, has been explained by explicit computation. We show that this precession is due to a hidden Coriolis-like force which, unlike the standard Coriolis force,…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…
Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…
We test the effect of assumptions about stellar motion on the behavior of gravitational instabilities in protoplanetary disks around solar-type stars by performing two simulations that are identical in all respects except the treatment of…
It is shown that an internal control based on a moving indicator function is able to stabilize the state of parabolic equations evolving in rectangular domains. For proving the stabilizability result, we start with a control obtained from…
Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
We consider the global approximate controllability of the two-dimensional incompressible Navier-Stokes system driven by a physically localized and degenerate force. In other words, the fluid is regulated via four scalar controls that depend…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
A nonlinear model representing the tribological problem of a thin solid lubricant layer between two sliding periodic surfaces is used to analyze the phenomenon of hysteresis at pinning/depinning around a moving state rather than around a…
Homoclinic snaking is a widespread phenomenon observed in many pattern-forming systems. Demonstrating its occurrence in non-perturbative regimes has proven difficult, although a forcing theory has been developed based on the identification…
We study the target control problem of asynchronous Boolean networks, to identify a set of nodes, the perturbation of which can drive the dynamics of the network from any initial state to the desired steady state (or attractor). We are…
We investigate the geometrically nonlinear deformation and buckling of a slender elastic beam subject to time-dependent `fictitious' (non-inertial) forces arising from unsteady rotation. Using a rotary apparatus that accurately imposes an…
An update is given on the current status of solar and stellar dynamos. At present, it is still unclear why stellar cycle frequencies increase with rotation frequency in such a way that their ratio increases with stellar activity. The…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…