相关论文: Three-Dimensional Dynamic Modeling and Motion Anal…

Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell's swimmer. By incorporating out-of-plane motion of the…

The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the…

With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…

Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…

Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…

This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both…

We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…

Over the past few decades, biomimetic robotic experiments have significantly advanced our understanding of undulatory swimming. Compared to animal experiments, robotic experiments offer repeatability and controlled parameter variations, but…

This paper considers the filtering problem which consists in reconstructing the state of a dynamical system with partial observations coming from sensor measurements, and the knowledge that the dynamics are governed by a physical PDE model…

Biomimetic underwater robots use lateral periodic oscillatory motion to propel forward, which is seen in most fishes known as body caudal fin (BCF) propulsion. The lateral oscillatory motion makes slender-bodied fish-like robots roll…

This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…

The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…

Self-organization of kinesin-driven, microtubule-based 3D active fluids relies on the collective dynamics of single microtubules. However, the connection between macroscopic fluid flows and microscopic motion of microtubules remains…

This study aims at finding a method for constructing molecular dynamics like models using the formalism of cellular automata for fast simulation of fluid dynamic systems (including compressible phenomena). In as much as the results…

Improving the numerical method of fish autonomous swimming behavior in complex environments is of great significance to the optimization of bionic controller,the design of fish passing facilities and the study of fish behavior.This work has…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…