相关论文: A Method to use Nonlinear Dynamics in a Whisker Se…

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…

The vibration of various structures such as blades of turbines, helicopters, and all kinds of rotating robot arms can damage the structures and disrupt their performance and balance. Thus, investigation of the reduction and control of…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…

Vibrational resonance focuses on the resonance behavior of a nonlinear system when it is subjected to both a weak low-frequency characteristic signal and a high-frequency auxiliary signal. A traditional Duffing system has a fixed natural…

Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…

The resonant interaction of relativistic electrons and whistler waves is an important mechanism of electron acceleration and scattering in the Earth radiation belts and other space plasma systems. For low amplitude waves, such an…

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…

Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated force/wrench sensorlessly from robot…

We study the vibrational motion of membrane resonators upon strong drive in the strongly nonlinear regime. By imaging the vibrational state of rectangular siliconnitride membrane resonators and by analyzing the frequency response using…

Time-frequency analysis is often used to study non stationary multicomponent signals, which can be viewed as the surperimposition of modes, associated with ridges in the TF plane. To understand such signals, it is essential to identify…

Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…

We present a novel approach for parameter-free modeling of the structural, dynamical and electronic properties of non-crystalline materials based on ab-initio Molecular Dynamics, improved signal processing technique and computer…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

Many modern engineering structures exhibit nonlinear vibration. Characterizing such vibrations efficiently is critical to optimizing designs for reliability and performance. For linear systems, steady-state vibration occurs only at the…

We extend linear input/output (resolvent) analysis to take into account nonlinear triadic interactions by considering a finite number of harmonics in the frequency domain using the harmonic balance method. Forcing mechanisms that maximize…

The dipteran flight mechanism of the insects is commonly used to design the nonlinear flight robot system. However, the dynamic response of the click mechanism of the nonlinear robot system with multiple stability still unclear. In this…