相关论文: Mechatronics-Driven Musical Expressivity for Robot…

As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…

Brushless DC (BLDC) motors are increasingly used in various industries due to their reliability, low noise, and extended lifespan compared to traditional DC motors. Their high torque-to-weight ratio and impressive starting torque make them…

As robots enter everyday spaces like offices, the sounds they create affect how they are perceived. We present Music Mode, a novel mapping between a robot's joint motions and sounds, programmed by artists and engineers to make the robot…

We present a data-driven approach for physics-based, muscle-driven dexterous control that enables musculoskeletal hands to perform precise piano playing for novel pieces of music outside the reference dataset. Our approach combines…

This paper quantitatively analysed orchestral conducting patterns, and detected variations as a result of extraneous body movement during conducting, in the first experiment of its kind. A novel live conducting system featuring data…

High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…

A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…

Generating realistic drum audio directly from symbolic representations is a challenging task at the intersection of music perception and machine learning. We propose a system that transforms an expressive drum grid, a time-aligned MIDI…

Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…

Robotic technology has been widely used in nowadays society, which has made great progress in various fields such as agriculture, manufacturing and entertainment. In this paper, we focus on the topic of drumming robots in entertainment. To…

This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and painting, leveraging their respective connections to fundamental…

In most macro-scale robotics systems , propulsion and controls are enabled through a physical tether or complex on-board electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while…

Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…

A predictive control scheme for a permanent-magnet synchronous machine (PMSM) is presented. It is based on a suboptimal method for computationally efficient trajectory generation based on continuous parameterization and linear programming.…

Magnetic soft continuum robots are capable of bending with remote control in confined space environments, and they have been applied in various bioengineering contexts. As one type of ferromagnetic soft continuums, the Magnetically Induced…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

We present the findings of a pilot-study that analysed the role of haptic feedback in a musical context. To examine the role of haptics in Digital Musical Instrument (DMI) design an experiment was formulated to measure the users' perception…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

A music glove instrument equipped with force sensitive, flex and IMU sensors is trained on an electric piano to learn note sequences based on a time series of sensor inputs. Once trained, the glove is used on any surface to generate the…

This paper proposed a straightforward and efficient current control solution for induction machines employing deep symbolic regression (DSR). The proposed DSR-based control design offers a simple yet highly effective approach by creating an…