相关论文: A Systematic Approach to Computing the Manipulator…
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…
We propose a system of equations that defines Weierstrass--Jacobi's eta- and theta-constant series in a differentially closed way. This system is shown to have a direct relationship to a little-known dynamical system obtained by Jacobi. The…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $\eta=J(q)\dot{q}$, where $q$ is a point on the configuration manifold, $\eta$ is a velocity-like task space…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
The conventional toy-model constructions of phase diagrams often use various versions of the standard Hermitian Bose-Hubbard Hamiltonians $H$. These studies were recently extended to cover several non-Hermitian PT-symmetric versions of the…
In the field of gestural action recognition, many studies have focused on dimensionality reduction along the spatial axis, to reduce both the variability of gestural sequences expressed in the reduced space, and the computational complexity…
This paper introduces Elastic Decision Transformer (EDT), a significant advancement over the existing Decision Transformer (DT) and its variants. Although DT purports to generate an optimal trajectory, empirical evidence suggests it…
Decreasing skilled workers is a very serious problem in the world. To deal with this problem, the skill transfer from experts to robots has been researched. These methods which teach robots by human motion are called imitation learning.…
We present a numerical method for computing optimal transition pathways and transition rates in systems of stochastic differential equations (SDEs). In particular, we compute the most probable transition path of stochastic equations by…
We propose a new method for training an agent via an evolutionary strategy (ES), in which we iteratively improve a set of samples to imitate: Starting with a random set, in every iteration we replace a subset of the samples with samples…
Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…
Many parameter estimation problems arising in applications are best cast in the framework of Bayesian inversion. This allows not only for an estimate of the parameters, but also for the quantification of uncertainties in the estimates.…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
A numerical framework is proposed for identifying partial differential equations (PDEs) governing dynamical systems directly from their observation data using Chebyshev polynomial approximation. In contrast to data-driven approaches such as…
In a recent paper, Hassoul et al.[1], the authors proposed an analysis of the quantum dynamics for general time-dependent three coupled oscillators through an approach based on their decouplement using the unitary transformation method.…
Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
We develop a general approach for monitoring and controlling evolution of open quantum systems. In contrast to the master equations describing time evolution of density operators, here, we formulate a dynamical equation for the evolution of…