相关论文: Efficient Analytical Derivatives of Rigid-Body Dyn…
In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically feasible continuous trajectory. The…
Future architectures designed to deliver exascale performance motivate the need for novel algorithmic changes in order to fully exploit their capabilities. In this paper, the performance of several numerical algorithms, characterised by…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
We have proposed new algorithms for the numerical integration of the equations of motion for classical spin systems. In close analogy to symplectic integrators for Hamiltonian equations of motion used in Molecular Dynamics these algorithms…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Physics-informed neural networks (PINNs) show great advantages in solving partial differential equations. In this paper, we for the first time propose to study conformable time fractional diffusion equations by using PINNs. By solving the…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches…
Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency,…
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…