Related papers: Towards Dynamic Model Identification and Gravity C…
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However, the collection of high-quality training data, the impact of…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…
Toroidal rotation is crucial for maintaining stable and high performance plasmas in tokamak fusion reactors. Among its driving mechanisms, the neoclassical toroidal viscosity (NTV) torque--induced by three-dimensional magnetic…
This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centrifugal and gravity terms for the dynamics of a robot are…
In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…
Dynamic imaging is a beneficial tool for interventions to assess physiological changes. Nonetheless during dynamic MRI, while achieving a high temporal resolution, the spatial resolution is compromised. To overcome this spatio-temporal…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
We propose a novel approach for performing dynamical system identification, based upon the comparison of simulated and observed physical invariant measures. While standard methods adopt a Lagrangian perspective by directly treating…
Vortex-induced vibration (VIV) remains a fundamental yet computationally challenging problem in computational fluid dynamics (CFD). This study develops a moving mesh Fluid-structure interaction (FSI) algorithm within a Runge-Kutta…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
Medical image super-resolution (SR) is an active research area that has many potential applications, including reducing scan time, bettering visual understanding, increasing robustness in downstream tasks, etc. However, applying…
This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers…
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…
In this series of works, we develop a discrete-velocity-direction model (DVDM) with collisions of BGK-type for simulating rarefied flows. Unlike the conventional kinetic models (both BGK and discrete-velocity models), the new model…
Finding interpretable biomechanical models can provide insight into the functionality of organs with regard to physiology and disease. However, identifying broadly applicable dynamical models for in vivo tissue remains challenging. In this…
The vehicle dynamics model serves as a vital component of autonomous driving systems, as it describes the temporal changes in vehicle state. In a long period, researchers have made significant endeavors to accurately model vehicle dynamics.…
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from…
Dynamic MRI reconstruction, one of inverse problems, has seen a surge by the use of deep learning techniques. Especially, the practical difficulty of obtaining ground truth data has led to the emergence of unsupervised learning approaches.…
We present a fault-tolerant quantum algorithm for implementing the Discrete Variable Representation (DVR) transformation, a technique widely used in simulations of quantum-mechanical Hamiltonians. DVR provides a diagonal representation of…
We study data-driven identification of interpretable hybrid robot dynamics, where an analytical rigid-body dynamics model is complemented by a learned residual torque term. Using symbolic regression and sparse identification of nonlinear…