相关论文: On Centroidal Dynamics and Integrability of Averag…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…
We discuss and compare several geometric structures which imply an upper bound to the acceleration of a particle measured in its rest system. While all of them have the same implications on the motion of a point particle, they differ in…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
The possibility to derive an equation for the mean velocity field in turbulent flow by using classical statistical mechanics is investigated. An application of projection operator technique available in the literature is used for this…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
We determine the general form of the potential of the problem of motion of a rigid body about a fixed point, which allows the angular velocity to remain permanently in a principal plane of inertia of the body. Explicit solution of the…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
The basic principles of General Theory of Relativity historically have been tested in gedanken experiments in rotating frame of references. One of the key issues, which still evokes a lot of controversy, is the centrifugal acceleration.…
Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…
The shape of liquid surface in a rotating frame depends on the angular velocity. In this experiment, a fluid in a rectangular container with a small width is placed on a rotating table. A smartphone fixed to the rotating frame…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
The Edge computing paradigm has gained prominence in both academic and industry circles in recent years. By implementing edge computing facilities and services in robotics, it becomes a key enabler in the deployment of artificial…
We study the averaging of fronts moving with positive oscillatory normal velocity, which is periodic in space and stationary ergodic in time. The problem can be reformulated as the homogenization of coercive level set Hamilton-Jacobi…