相关论文: A variable rest length impedance grasping strategy…
Robotic haptic devices combined with virtual reality offer novel opportunities to train fine force generation, an essential yet overlooked component of post-stroke rehabilitation. This study proposes that manipulating the rendered dynamics…
The relationships between port-Hamiltonian systems modeling and the notion of monotonicity are explored. The earlier introduced notion of incrementally port-Hamiltonian systems is extended to maximal cyclically monotone relations, together…
Although there have been many studies of statistical mechanical models of magnetic friction, most of these have focused on the behavior in the steady state. In this study, we prepare a system composed of a chain and a lattice of Ising spins…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
In this paper we show that feedback passivation under sampling can be preserved under digital control through the redefinition of a passifying output map which depends on the sampling period. The design is constructive and approximate…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
In this paper, we develop high-order splitting methods for linear port-Hamiltonian systems, focusing on preserving their intrinsic structure, particularly the dissipation inequality. Port-Hamiltonian systems are characterized by their…
Accurately learning the temporal behavior of dynamical systems requires models with well-chosen learning biases. Recent innovations embed the Hamiltonian and Lagrangian formalisms into neural networks and demonstrate a significant…
We investigate the stability of the wave equation with spatial dependent coefficients on a bounded multidimensional domain. The system is stabilized via a scattering passive feedback law. We formulate the wave equation in a port-Hamiltonian…
Industrial robots are increasingly deployed in contact-rich construction and manufacturing tasks that involve uncertainty and long-horizon execution. While learning-based visuomotor policies offer a promising alternative to open-loop…
Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such as impedance control and stability guarantees. Recently, the…
Non-equilibrium control of electronic properties in condensed matter systems can result in novel phenomena. In this work, we provide a novel non-equilibrium route to realize half-metallic phases. We explore the periodically driven Hubbard…
We construct optimally robust port-Hamiltonian realizations of a given rational transfer function that represents a passive system. We show that the realization with a maximal passivity radius is a normalized port-Hamiltonian one. Its…
The development of vibration protection systems that ensure efficiency and safety in the operation of process equipment and pipelines is one of the main tasks of controlling the dynamic state of machines. One of the effective methods of…
Port-Hamiltonian (PH) systems provide a framework for modeling, analysis and control of complex dynamical systems, where the complexity might result from multi-physical couplings, non-trivial domains and diverse nonlinearities. A major…
In this work, the multiplier method is extended to obtain a general lower bound of the exponential decay rate in terms of the physical parameters for port-Hamiltonian systems in one space dimension with boundary dissipation. The physical…
We study, both theoretically and numerically, the equilibrium of a hinged rigid leaflet with an attached rotational spring, immersed in a stationary incompressible fluid within a rigid channel. Through a careful investigation of the…