相关论文: A variable rest length impedance grasping strategy…

A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions,…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

Learning is a physical process. Here, we aim to study a simple dynamical system composed of springs and sticks capable of arbitrarily approximating any continuous function. The main idea of our work is to use the sticks to mimic a…

Mathematical modeling of real-world physical systems requires the consistent combination of a multitude of physical laws and phenomenological models. This challenging task can be greatly simplified by hierarchically decomposing systems into…

We present a gradient-based identification algorithm to identify the system matrices of a linear port-Hamiltonian system from given input-output time data. Aiming for a direct structure-preserving approach, we employ techniques from optimal…

This work introduces a new framework integrating port-Hamiltonian systems (PHS) and neural network architectures. This framework bridges the gap between deterministic and stochastic modeling of complex dynamical systems. We introduce new…

We develop a formalism for the robust dynamical decoupling and Hamiltonian engineering of strongly interacting qudit systems. Specifically, we present a geometric formalism that significantly simplifies qudit pulse sequence design, while…

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…

This paper explores the possibility to construct two-terminal mechanical devices (one-ports) which are lossless and adjustable. To be lossless, the device must be passive (i.e. not requiring a power supply) and non-dissipative. To be…

Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting from the group of diffeomorphisms as a configuration space for…

Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual…

Conventional physics-based modeling techniques involve high effort, e.g., time and expert knowledge, while data-driven methods often lack interpretability, structure, and sometimes reliability. To mitigate this, we present a data-driven…

Long-range interacting systems such as nitrogen vacancy centers in diamond and trapped ions serve as useful experimental setups to probe a range of nonequilibrium many-body phenomena. In particular, via driving, various effective…

In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…

Relative permeability is commonly used to model immiscible fluid flow through porous materials. In this work we derive the relative permeability relationship from conservation of energy, assuming that the system to be non-ergodic at large…

In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…

We consider differential operators $A$ that can be represented by means of a so-called closure relation in terms of a simpler operator $A_{\operatorname{ext}}$ defined on a larger space. We analyze how the spectral properties of $A$ and…

We study the dynamics of a single semiflexible filament coupled to a Hookean spring at its boundary. The spring produces a fluctuating tensile force on the filament, whose value depends on the filament's instantaneous end-to-end length. The…

Active proteins and membrane-bound motors exert force dipole flows along fluid interfaces and lipid bilayers. We develop a Hamiltonian framework for the interactions of pusher and puller dipoles embedded in an incompressible two-dimensional…