Related papers: Interaction Forces and Internal Loads in Parallel …
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
In the light of intriguing results of C.C.Barros, we investigate in this thesis the possibilities of geometrical interpretation of all the fundamental interactions in order to unify them. More exactly we try to supply a unified geometrical…
In the context of a gauge theory for the translation group, we have obtained, for a spinless particle, a gravitational analog of the Lorentz force. Then, we have shown that this force equation can be rewritten in terms of magnitudes related…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
The screened Coulomb interaction between a pair of infinite parallel planes with spatially varying surface charge is considered in the limit of small electrical potentials for arbitrary Debye lengths. A simple expression for the disjoining…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…
The question of deriving general force/flux relationships that apply out of the linear response regime is a central topic of theories for nonequilibrium statistical mechanics. This work applies an information theory perspective to compute…
We study the bipartite von Neumann entanglement entropy and matrix elements of local operators in the eigenstates of an interacting integrable Hamiltonian (the paradigmatic spin-1/2 XXZ chain), and we contrast their behavior with that of…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
The main aspects of a gauge-invariant approach to the description of quark dynamics in the nonperturbative regime of QCD are first reviewed. In particular, the role of the parallel transport operation in constructing gauge-invariant Green's…
In a one-dimensional elastic medium with finite correlation length and purely relaxational dynamics, we calculate the time dependence of the elastic force F(t) exchanged between two active inclusions that trigger an elastic deformation at…
We present a minimalistic approach to simulations of force transmission through granular systems. We start from a configuration containing cohesive (tensile) contact forces and use an adaptive procedure to find the stable configuration with…
In the framework of teleparallel equivalent of general relativity, we study a gravity theory where a scalar field beyond its minimal coupling, is also coupled with the vector torsion through a non-minimal derivative coupling. After a…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…