相关论文: Optimization of two- and three-link snake-like loc…

Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…

This note presents a solution of the swing-up task of two acrobots using trajectory optimization method. The equations of motion for 2-link and 3-link acrobot are manually derived, and then form the dynamics of the robots. Numerical…

A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…

Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since…

Sequential scaling is a prominent inference-time scaling paradigm, yet its performance improvements are typically modest and not well understood, largely due to the prevalence of heuristic, non-principled approaches that obscure clear…

We document a sequence of bifurcations and elastic patterns in sheared bent sheets of intermediate aspect ratio. The sheets undergo inversion of curvature through the passage of localized features, often in S-shaped pairs. Nested…

This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas…

The efficiency of intracellular cargo transport from specific source to target locations is strongly dependent upon molecular motor-assisted motion along the cytoskeleton. Radial transport along microtubules and lateral transport along the…

This paper proposes an optimization-based task and motion planning framework, named "Logic Network Flow", to integrate signal temporal logic (STL) specifications into efficient mixed-binary linear programmings. In this framework, temporal…

We consider a swimmer consisting of a collinear assembly of three spheres connected by two slender rods. This swimmer can propel itself forward by varying the lengths of the rods in a way that is not invariant under time reversal. Although…

Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…

Self-propelling organisms locomote via generation of patterns of self-deformation. Despite the diversity of body plans, internal actuation schemes and environments in limbless vertebrates and invertebrates, such organisms often use similar…

In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…

In this paper, the optimum linear/nonlinear spring and linear/nonlinear damper force versus displacement and force versus velocity characteristic functions, respectively, are determined using simple lumped parameter models of a quarter car…

Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…

Traffic dynamics on single or isolated complex networks has been extensively studied in the past decade. Recently, several coupled network models have been developed to describe the interactions between real-world networked systems. In a…

This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…

This paper investigates the energy efficiency optimization for movable antenna (MA) systems by considering the time delay and energy consumption introduced by MA movement. We first derive the upper bound on energy efficiency for a…