Related papers: Rapid and Inexpensive Inertia Tensor Estimation fr…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
A complete description of twisting somersaults is given using a reduction to a time-dependent Euler equation for non-rigid body dynamics. The central idea is that after reduction the twisting motion is apparent in a body frame, while the…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Measurement of distances and moments of inertia of pulsars must be useful, for instance, for three-dimensional mapping of the dispersion and rotation measures, constraining the nuclear equation of state, etc. The distances and moments of…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
Tensorial curvature measures are tensor-valued generalizations of the curvature measures of convex bodies. We prove a complete set of kinematic formulae for such tensorial curvature measures on convex bodies and for their (nonsmooth)…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
This document describes the theory used for the calculation of track geometric irregularities on a Track Geometry Measuring System (TGMS) to be installed in railway vehicles. The TGMS includes a computer for data acquisition and process, a…
Position-meter and speed-meter interferometers have been analysed for detecting gravitational waves. We introduce the concept of acceleration measurement in comparison with position and speed measurement. In this paper, we describe a…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
An important methodological problem of theoretical mechanics related to inertia is discussed. Analysis Inertia is performed in four-dimensional Minkowski space-time based on the law of conservation of energy-momentum. This approach allows…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
In a previous article [Phys. Rev. D 82 104040 (2010)], we derived an energy-momentum tensor for linear gravity that exhibited positive energy density and causal energy flux. Here we extend this framework by localizing the angular momentum…
We describe a paradigm for measuring a single electron spin in a solid. This is a fundamental problem in condensed matter physics. The technique can be used to read a spin qubit relatively non-invasively in either a spintronic quantum gate…
The oloid is defined as the convex hull of two unit circles in perpendicular planes, each passing through the center of the other. In this paper we derive an analytical expression for the moment of inertia tensor of an oloid with uniform…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…