相关论文: Nonsmooth Mechanics Based on Linear Projection Ope…
We study feedback motion planning for continuous-time stochastic nonlinear systems under signal temporal logic (STL) specifications. We propose a framework that synthesizes control policies for chance-constrained STL trajectory optimization…
We develop $H$(div)-conforming mixed finite element methods for the unsteady Stokes equations modeling single-phase incompressible fluid flow. A projection method in the framework of the incremental pressure correction methodology is…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
A new non-perturbative framework for many-body correlated systems is formulated by extending the operator projection method (OPM). This method offers a systematic expansion which enables us to project into the low-energy structure after…
We generalize the robotics equation describing the dynamics of open kinematic chains by including the effect of time-dependent change of inertial parameters as well as the effects of causative mass-density redistribution, triggered by…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
In recent years, a number of tools have become available that recover the underlying control policy from constrained movements. However, few have explicitly considered learning the constraints of the motion and ways to cope with unknown…
A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and orientation of the individual bodies with respect to an…
We use the recent theory of Spectral Submanifolds (SSM) for model reduction of nonlinear mechanical systems subject to parametric excitations. Specifically, we develop expressions for higher-order nonautonomous terms in the parameterization…
A hybrid dynamical system switches between dynamic regimes at time- or state-triggered events. We propose an offline algorithm that simultaneously estimates discrete and continuous components of a hybrid system's state. We formulate state…
While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…
We introduce a relaxed-projection splitting algorithm for solving variational inequalities in Hilbert spaces for the sum of nonsmooth maximal monotone operators, where the feasible set is defined by a nonlinear and nonsmooth continuous…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
Multimodal learning seeks to combine data from multiple input sources to enhance the performance of different downstream tasks. In real-world scenarios, performance can degrade substantially if some input modalities are missing. Existing…
Whole-body multi-modal human motion generation poses two primary challenges: creating an effective motion generation mechanism and integrating various modalities, such as text, speech, and music, into a cohesive framework. Unlike previous…
This paper presents a new paradigm to stabilize uncertain stochastic linear systems. Herein, second moment polytopic (SMP) systems are proposed that generalize systems with both uncertainty and randomness. The SMP systems are characterized…
Predictive high-fidelity finite element simulations of human cardiac mechanics co\-mmon\-ly require a large number of structural degrees of freedom. Additionally, these models are often coupled with lumped-parameter models of hemodynamics.…
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized…
This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various…
This paper presents an overview of physical ideas and mathematical methods for implementing non-smooth and discontinuous substitutions in dynamical systems. General purpose of such substitutions is to bring the differential equations of…