相关论文: Mechatronics-Driven Musical Expressivity for Robot…
Structural health monitoring (SHM) involves sensor deployment, data acquisition, and data interpretation, commonly implemented via a tedious wired system. The information processing in current practice majorly depends on electronic…
This study harnesses the embodied intelligence of mechanical metamaterials to sense and process environmental vibrations with minimal digital computation. Using physical reservoir computing (PRC), we turn the metamaterial and its nonlinear…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics.…
This paper describes a computational model of loudness variations in expressive ensemble performance. The model predicts and explains the continuous variation of loudness as a function of information extracted automatically from the written…
The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There…
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 proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
Sequential recommendation systems aim to predict users' next preferences based on their interaction histories, but existing approaches face critical limitations in efficiency and multi-scale pattern recognition. While Transformer-based…
Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…
Soft robotics has emerged as a versatile field with applications across various domains, from healthcare to industrial automation, and more recently, art and interactive installations. The inherent flexibility, adaptability, and safety of…
The non-inductive current start-up by multi-harmonic electron cyclotron wave has been systematically investigated in the EXL-50U spherical torus. Significant enhancements of the driven current with increasing number of resonance layers have…
Metamaterials based on mechanical elements have been developed over the past decade as a powerful platform for exploring analogs of electron transport in exotic regimes that are hard to produce in real materials. In addition to enabling new…
This study looked into how effective a Musical Brain-Computer Interface (MBCI) can be in providing feedback about synchrony between two people. Using a double EEG setup, we compared two types of musical feedback; one that adapted in…
Two modest-sized symbolic corpora of post-tonal and post-metric keyboard music have been constructed, one algorithmic, the other improvised. Deep learning models of each have been trained and largely optimised. Our purpose is to obtain a…
In this paper, we investigate the use of 'prosody' (the musical elements of speech) as a communicative signal for intuitive human-robot interaction interfaces. Our approach, rooted in Research through Design (RtD), examines the application…
Recent advances in whole-body robot control have enabled humanoid and legged robots to perform increasingly agile and coordinated motions. However, standardized benchmarks for evaluating these capabilities in real-world settings, and in…