Related papers: Model-based thermal drift compensation for high-pr…
Robots can support humans in tedious tasks, as well as provide social support. However, the decision-making and behavior of robots is not always clear to the human interaction partner. In this work, we discuss the opportunity of using…
Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in…
Electrophoresis has been shown as a novel methodology to enhance heat conduction capabilities of nanocolloidal dispersions. A thoroughly designed experimental system has been envisaged to solely probe heat conduction across nanofluids by…
Bio-inspired walking hexapod robots are a relatively young branch in robotics in both state of the art and applications. Despite their high degree of flexibility and adaptability derived by their redundant design, the research field that…
We address analytically and numerically the problem of crack path prediction in the model system of a crack propagating under thermal loading. We show that one can explain the instability from a straight to a wavy crack propagation by using…
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
Determining a model for the time scaling of the dynamic aperture of a circular accelerator is a topic of strong interest and intense research efforts in accelerator physics. The motivation arises in the possibility of finding a method to…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
Hot Jupiter atmospheres are possibly subject to a thermoresistive instability. Such an instability may develop as the ohmic heating increases the electrical conductivity in a positive feedback loop, which ultimately leads to a runaway of…
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…
State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct values of the parameters depend on factors relating to the…
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…
Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address…
Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…
We show that an increasingly strong thermal rectification effect occurs in the thermodynamic limit in a one-dimensional, graded rotor lattice with nearest-neighboring interactions only. The underlying mechanism is related to the transition…
This paper aimed at extending a model developed by Ladeveze to capture thermal expansion and coupled thermo-mechanical phenomena, as such as those encountered at elevated and extreme temperatures. In the new model a linear thermal expansion…