相关论文: Control of Painlev\'e Paradox in a Robotic System

In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…

Impacting mechanical systems with suitable parameter settings exhibit a large amplitude chaotic oscillation close to the grazing with the impacting surface. The cause behind this uncertainty is the square root singularity and the occurrence…

Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…

The equilibrium configuration of an engineering structure, able to withstand a certain loading condition, is usually associated with a local minimum of the underlying potential energy. However, in the nonlinear context, there may be other…

Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…

In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…

We report a surprising hysteretic behavior in the dynamics of a simple one-dimensional nonlinear model inspired by the tribological problem of two sliding surfaces with a thin solid lubricant layer in between. In particular, we consider the…

We investigate the influence that adding a new coupling has on the linear stability of the synchronous state in coupled oscillators networks. Using a simple model we show that, depending on its location, the new coupling can lead to…

Many physical systems can be modelled as parameter-dependent variational problems. In numerous cases, multiple equilibria co-exist, requiring the evaluation of their stability, and the monitoring of transitions between them. Generally, the…

This paper is devoted to the analysis and resolution of a pathological phenomenon in airplane encounters called blocking mode. As autonomy in airplane systems increases, a pathological phenomenon can be observed in two-aircraft encounter…

The Poincar\'e map is widely used to study the qualitative behavior of dynamical systems. For instance, it can be used to describe the existence of periodic solutions. The Poincar\'e map for dynamical systems with impulse effects was…

Certified defenses based on convex relaxations are an established technique for training provably robust models. The key component is the choice of relaxation, varying from simple intervals to tight polyhedra. Counterintuitively, loose…

This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

Reliable functioning of supply and transport networks fundamentally support many non-equilibrium dynamical systems, from biological organisms and ecosystems to human-made water, gas, heat, electricity and traffic networks. Strengthening an…

Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…

Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…

We prove the existence of at least two geometrically different periodic solution with winding number N for the forced relativistic pendulum. The instability of a solution is also proved. The proof is topological and based on the version of…

A theory of the novel spiral chaos state recently observed in Rayleigh-Benard convection is proposed in terms of the importance of invasive defects i.e defects that through their intrinsic dynamics expand to take over the system. The motion…