相关论文: Cartesian stiffness matrix of manipulators with pa…

In recent years, network models have gained prominence for their ability to capture complex associations. In statistical omics, networks can be used to model and study the functional relationships between genes, proteins, and other types of…

This paper introduces an active learning framework for manifold Gaussian Process (GP) regression, combining manifold learning with strategic data selection to improve accuracy in high-dimensional spaces. Our method jointly optimizes a…

While computational modeling may help to develop new treatment options for hand and wrist injuries, at present, few models exist. The time and expertise required to develop and use these models is considerable. Moreover, most do not allow…

Being an example for a relaxation oscillator, the FitzHugh-Nagumo model has been widely employed for describing the generation of action potentials. In this paper, we begin with a biological interpretation of what the subsequent…

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…

In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…

Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…

This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…

We propose and analyze a process that extracts useful work from a single active particle maintained at constant temperature in a harmonic potential by measuring the relative sign of the self-propulsion and the confining force and then…

The Lagrangian view of passive scalar turbulence has recently produced interesting results and interpretations. Innovations in theory, experiments, simulations and data analysis of Lagrangian turbulence are reviewed here in brief. Part of…

Knee orthotic devices are widely proposed by physicians and medical practitioners for preventive or therapeutic objectives in relation with their effects, usually known as to stabilize joint or restrict ranges of motion. This study focuses…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

Unconditionally stable implicit time-marching methods are powerful in solving stiff differential equations efficiently. In this work, a novel framework to handle stiff physical terms implicitly is proposed. Both physical and numerical…

The notions of weak and strong minimizability of a matrix intertwining operator are introduced. Criterion of strong minimizability of a matrix intertwining operator is revealed. Criterion and sufficient condition of existence of a constant…

This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…

Reversible Markov chains play a central role in stochastic modelling and in algorithms such as Markov chain Monte Carlo (MCMC). Motivated by the fundamental importance of reversibility in classical settings, this paper develops a…

Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their…

We consider systems of stochastic differential equations of the form \[ \d X_t^i = \sum_{j=1}^d A_{ij}(X_{t-}) \d Z_t^j\] for $i=1,\dots,d$ with continuous, bounded and non-degenerate coefficients. Here $Z_t^1,\dots,Z_t^d$ are independent…

Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…