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

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…

Metallic magnetic calorimeters (MMCs) are cryogenic detectors that offer an excellent energy resolution, a signal rise time of <100 ns, a high dynamic range and almost optimal linearity. MMCs are of high interest for many experiments. One…

This study presents a modular, electronics-free, and fully onboard control and actuation approach for SMA-based soft robots to achieve locomotion tasks. This approach exploits the nonlinear mechanics of compliant curved beams and carefully…

Automatically generating symbolic music-music scores tailored to specific human needs-can be highly beneficial for musicians and enthusiasts. Recent studies have shown promising results using extensive datasets and advanced transformer…

Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…

The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area.…

Motion-sensorless control techniques of electrical drives are attracting more attention in different industries. The local observability of sensorless permanent magnet synchronous drives is studied in this paper. A special interest is given…

Vast industrial investment along with increased academic research on heavy-duty hydraulic manipulators has unavoidably paved the way for their automatization, necessitating the design of robust and high-precision controllers. In this study,…

Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…

This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…

Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…

We introduce a lightweight, real-time motion recognition system that enables synergic human-machine performance through wearable IMU sensor data, MiniRocket time-series classification, and responsive multimedia control. By mapping…

Music generation has generally been focused on either creating scores or interpreting them. We discuss differences between these two problems and propose that, in fact, it may be valuable to work in the space of direct $\it performance$…

In the process of developing a new digital music interface, the author faced three questions that have attracted little to no attention in the literature. By tracking body joints, a performer can use body parts to directly control a digital…

Replicating human-like dexterity in robot hands represents one of the largest open problems in robotics. Reinforcement learning is a promising approach that has achieved impressive progress in the last few years; however, the class of…

The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…

In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…

This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…

Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…