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

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…

This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…

Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…

This paper deals with existence and robust stability of hybrid limit cycles for a class of hybrid systems given by the combination of continuous dynamics on a flow set and discrete dynamics on a jump set. For this purpose, the notion of…

The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…

As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…

Well known in the theory of network flows, Braess paradox states that in a congested network, it may happen that adding a new path between destinations can increase the level of congestion. In transportation networks the phenomenon results…

Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…

We prove the existence of chaotic motions in a planar restricted four body problem, establishing that the system is not integrable. The idea of the proof is to verify the hypotheses of a topological forcing theorem. The forcing theorem…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…

Dynamical stabilization of an inverted pendulum through vertical movement of the pivot is a well-known counterintuitive phenomenon in classical mechanics. This system is also known as Kapitza pendulum and the stability can be explained with…

Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…

Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…

This article presents tools for the design of control laws inducing robust controlled forward invariance of a set for hybrid dynamical systems modeled as hybrid inclusions. A set has the robust controlled forward invariance property via a…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

Birhythmicity arises in several physical, biological and chemical systems. Although, many control schemes are proposed for various forms of multistability, only a few exist for controlling birhythmicity. In this paper we investigate the…

This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…

The knuckleball is perhaps the most enigmatic pitch in baseball. Relying on the presence of raised seams on the surface of the ball to create asymmetric flow, a knuckleball's trajectory has proven very challenging to predict compared to…