相关论文: An Elastica Arm Scale

An elastic anomaly, observed in the heavy fermi liquid state of Ce alloys (for example, CeCu$_6$ and CeTe), is analyzed by using the infinite-$U$ Anderson lattice model. The four atomic energy levels are assumed for f-electrons. Two of them…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…

Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…

We performed dynamic pressure buckling experiments on defect-seeded spherical shells made of a common silicone elastomer. Unlike in quasi-static experiments, shells buckled at ostensibly subcritical pressures (i.e. below the…

To understand the mechanics of a complex fluid such as a foam we propose a model experiment (a bidimensional flow around an obstacle) for which an external sollicitation is applied, and a local response is measured, simultaneously. We…

Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind…

In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…

Elastic deformation of rigid materials with soft coatings (stratified materials) due to lubrication forces can also alter the interpretation of dynamic surface forces measurements and prevent contact formation between approaching surfaces.…

In a recent paper it was proposed that for some nonlinear shell models of turbulence one can construct a linear advection model for an auxiliary field such that the scaling exponents of all the structure functions of the linear and…

We propose a protocol to model accurately the electromechanical behavior of dielectric elastomer membranes using experimental data of stress-stretch and voltage-stretch tests. We show how the relationship between electric displacement and…

We begin by recalling the isothermal, collisionless, disc-halo. The disc component is the Mestel disc. Subsequently we introduce spiral arms to such an isothermal disc-halo system that are co-moving in the mean with an axi-symmetric…

We examine a variety of numerical methods that arise when considering dynamical systems in the context of physics-based simulations of deformable objects. Such problems arise in various applications, including animation, robotics, control…

The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…

This paper presents a theory of skiplists of arbitrary height, and shows decidability of the satisfiability problem for quantifier-free formulas. A skiplist is an imperative software data structure that implements sets by maintaining…

This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…

Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a…

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…