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Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However,…
This paper instantiates a convex electric powertrain design optimization framework, bridging the gap between high-level powertrain sizing and low-level components design. We focus on the electric motor and transmission of electric vehicles,…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…
The major challenges to battery electric truck adoption are their high cost and grid congestion.In this context, stationary energy storage systems can help mitigate both issues. Since their design and operation are strongly coupled, to make…
In distributed applications, such as energy demand forecasting at the substation level or federated learning, a large number of related tasks must be learned by different models, while the exact task relationships are unknown. We propose…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…
The cable-trench problem is defined as a linear combination of the shortest path and the minimum spanning tree problem. In particular, the goal is to find a spanning tree that simultaneously minimizes its total length and the total path…
Machine learning solutions are rapidly adopted to enable a variety of key use cases, from conversational AI assistants to scientific discovery. This growing adoption is expected to increase the associated lifecycle carbon footprint,…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
We present a framework based on Clarke coordinates for spatial displacement-actuated continuum robots with an arbitrary number of joints. This framework consists of three modular components, i.e., a planner, trajectory generator, and…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
Doubly curved thin concrete shells are very efficient building structures, suitable for light-weight construction because of their high structural stability. In the process of constructing such shells, an efficient innovative flexible…
In recent years, the development of connected and automated vehicle (CAV) technology has inspired numerous advanced applications targeted at improving existing transportation systems. As one of the widely studied applications of CAV…
Multi-Agent Aerial Load Transport Systems (MAATS) offer greater payload capacity and fault tolerance than single-drone solutions. However, they have an underdetermined tension allocation problem that leads to uneven energy distribution,…
This paper presents models and optimization algorithms to jointly optimize the design and control of the transmission of electric vehicles equipped with one central electric motor (EM). First, considering the required traction power to be…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use can induce mechanical fatigue from plastic deformation and…