Related papers: Passive Phase-Oriented Impedance Shaping for Rapid…
We investigate how neutral-ion collisional damping modifies the spectral properties and energy partition of compressible MHD turbulence using a suite of 3D two-fluid simulations. By systematically varying the neutral-ion coupling strength…
The selective frequency damping (SFD) method is an alternative to classical Newton's method to obtain unstable steady-state solutions of dynamical systems. However this method has two main limitations: it does not converge for arbitrary…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Bio-inspired aquatic propulsion offers high thrust and maneuverability but is prone to destabilizing forces such as lift fluctuations, which are further amplified by six-degree-of-freedom (6-DoF) fluid coupling. We formulate quadrupedal…
Low Rank Decomposition (LRD) is a model compression technique applied to the weight tensors of deep learning models in order to reduce the number of trainable parameters and computational complexity. However, due to high number of new…
We study the cascading of fast MHD modes in magnetically dominated plasma by performing one-dimensional (1D) dynamical simulations. We find that the cascading becomes more efficient as an angle between wave vector and underlying magnetic…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation frameworks remain scarce and are seldom adopted by the soft…
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the…
A discrete time control algorithm using the damped least squares is introduced for acceleration and energy exchange controls in nonlinear vibrating systems. It is shown that the damping constant of least squares and sampling time step of…
Inspired by the snap-through action of a steel hairclip, we propose a design method for in-plane prestressed mechanisms that exhibit biomimetic morphing and high locomotion performance. Compliant bistable flapping mechanisms are fabricated…
In order to understand and predict coastal flooding processes in rocky environments, it is necessary to take into account bottom roughness, which plays a key role in wave transformation processes and in general coastal dynamics. The present…
In this work, we introduce an advanced thermo-active variable impedance module which builds upon our previous innovation in thermal-based impedance adjustment for actuation systems. Our initial design harnessed the temperature-responsive,…
Tip-growing eversion robots are renowned for their ability to access remote spaces through narrow passages. However, achieving reliable navigation remains a significant challenge. Existing solutions often rely on artificial muscles…
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…
This study employed smoothed particle hydrodynamics (SPH) as the numerical environment, integrated with deep reinforcement learning (DRL) real-time control algorithms to optimize the sloshing suppression in a tank with a centrally…