Related papers: Extreme dynamic symmetry enables omnidirectional a…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
Symmetries naturally occur in real-world networks and can significantly influence the observed dynamics. For instance, many synchronization patterns result from the underlying network symmetries, and high symmetries are known to increase…
Symmetry can be used to help solve many problems. For instance, Einstein's famous 1905 paper ("On the Electrodynamics of Moving Bodies") uses symmetry to help derive the laws of special relativity. In artificial intelligence, symmetry has…
Growth-elasticity is a powerful model framework for understanding complex shape development in soft biological tissues. At each instant, by mapping how continuum building blocks have grown geometrically and how they respond elastically to…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Robustness, the ability of a system to maintain performance under significant and unanticipated environmental changes, is a critical property for robotic systems. While biological systems naturally exhibit robustness, there is no…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…