Related papers: Compensating Hysteresis and Mechanical Misalignmen…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Mathematical models involving switches --- in the form of differential equations with discontinuities --- can accomodate real-world non-idealities through perturbations by hysteresis, time-delay, discretization, and noise. These are used to…
Driving simulators are increasingly used in research and development. However, simulators often cause motion sickness due to downscaled motion and unscaled veridical visuals. In this paper, a motion cueing algorithm is proposed that reduces…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
Online footstep planning is essential for bipedal walking robots to be able to walk in the presence of disturbances. Until recently this has been achieved by only optimizing the placement of the footstep, keeping the duration of the step…
Piezoelectric vibration energy harvesters have attracted much attention due to its potential to replace currently popular batteries and to provide an sustainable power sources. Many researchers have proposed ways to increase the performance…
A new model description and type classification carried out on its base of a wide variety of practical hysteresis loops are suggested. An analysis of the loop approximating function was carried out; the parameters and characteristics of the…
We propose a hysteretic model for electromechanical coupling in piezoelectric materials, with the strain and the electric field as inputs and the stress and the polarization as outputs. This constitutive law satisfies the thermodynamic…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
We investigated a model for the neural integrator based on hysteretic units connected by positive feedback. Hysteresis is assumed to emerge from the intrinsic properties of the cells. We consider the recurrent networks containing either…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Tendon-driven continuum manipulators (TDCM) are commonly used in minimally invasive surgical systems due to their long, thin, flexible structure that is compliant in narrow or tortuous environments. There exist many researches for precise…
In this paper, we present a hardware-control co-design approach that enables efficient and versatile roller skating on quadrupedal robots equipped with passive wheels. Passive-wheel skating reduces leg inertia and improves energy…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Trampoline gymnastics involves extreme human poses and uncommon viewpoints, on which state-of-the art pose estimation models tend to under-perform. We demonstrate that this problem can be addressed by fine-tuning a pose estimation model on…
Recent progress on physics-based character animation has shown impressive breakthroughs on human motion synthesis, through imitating motion capture data via deep reinforcement learning. However, results have mostly been demonstrated on…