Related papers: Interaction Forces and Internal Loads in Parallel …
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
Whereas nonrelativistic mechanics always connects the total momentum of a system to the motion of the center of mass, relativistic systems, such as interacting electromagnetic charges, can have internal linear momentum in the absence of…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
We consider an interaction of charged bodies under the following simplified conditions: the distribution of charge over each body is stable; the interaction of bodies is governed by electrical forces only. Physically, these assumptions can…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
This short article is devoted to the dynamics of controlled (and, therefore, open) systems. The internal forces, which appear only in the presence of external free controls and depend explicitely on them, are considered. Such interactive…
A momentum-space approach to conformal field theory offers a new perspective on cosmological correlators and better reveals the underlying connections to scattering amplitudes. This thesis explores the interplay between integral…
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redundancy, that is only possible in PKM, is…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
We present a theory to obtain the pressure tensor for a class of non-ideal multicomponent lattice Boltzmann models, thus extending the theory presented by Shan (X. Shan, Phys. Rev. E 77, 066702 (2008)) for single component fluids. We obtain…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, inputs are classified as essential, redundant, or dexterity:…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…
Useful definitions and properties pertaining to static granular packings, in which a contact network is able to support externally applied forces and maintain equilibrium for varying loads, are reviewed and discussed. It is explained how…
Designing reinforcement learning (RL) problems that can produce delicate and precise manipulation policies requires careful choice of the reward function, state, and action spaces. Much prior work on applying RL to manipulation tasks has…