Related papers: Interaction Forces and Internal Loads in Parallel …
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
We study the response of granular materials to external stress using experiment, simulation, and theory. We derive an entropic, Ginzburg-Landau functional that enforces mechanical stability and positivity of contact forces. In this…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
This paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for Underwater Vehicles Manipulator Systems (UVMS). The wrench maximisation problem is formulated…
The mechanical tension at the interface of motility-induced phase separating active Brownian particles (ABPs) remains an open question. Here, we determine the surface tension by analyzing the spatial distribution of forces at the molecular…
The intensity relations for electromagnetic transition rates in the rotational coupling scheme have been a basic tool to understand the properties of nuclear collective rotations. In particular the correction terms to the leading-order…
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…
The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Embedding rigid inclusions into elastic matrix materials is a procedure of high practical relevance, for instance for the fabrication of elastic composite materials. We theoretically analyze the following situation. Rigid spherical…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
The system of particles interacting via multibody interatomic potential of general form is considered. Possible variants of partition of the total force acting on a single particle into pair contributions are discussed. Two definitions for…
Recent developments have made possible the computation of equilibrium dynamical correlators in quantum impurity problems. In many situations however, one is rather interested in correlators subject to a non equilibrium initial preparation;…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
An exactly soluble non-linear interaction Hamiltonian is proposed to study fundamental properties of the entanglement dynamics for a coupled non-linear oscillators. The time-evolved state is obtained analytically for initial products of two…