相关论文: Lateral Stability of Vehicle with Interlocking Spi…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Topologically interlocked structures are architectured by fitting together blocks that are constrained geometrically through contact and friction by their neighboring blocks. As long as the frictional strength is nowhere exceeded, the…
Modern vehicles have evolved from mechanical systems to complex and connected ones controlled by numerous digital computers interconnected through internal networks. While this development has improved their efficiency and safety, it also…
A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and…
Non-conservative loads of the follower type are usually believed to be the source of dynamic instabilities such as flutter and divergence. It is shown that these instabilities (including Hopf bifurcation, flutter, divergence, and…
Even the most regular stick-slip frictional sliding is always stochastic, with irregularity in both the intervals between slip events and the sizes of the associated stress drops. Applying small-amplitude oscillations to the shear force, we…
Tractor-trailer wheeled robots need to perform comprehensive perception tasks to enhance their operations in areas such as logistics parks and long-haul transportation. The perception of these robots faces three major challenges: the…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
We propose an elasto-plastic inspired friction model which incorporates interfacial stiffness. Steady state sliding friction is characterized by a generic nonmonotonic behavior, including both velocity weakening and strengthening branches.…
We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance…
The energy transition is causing many stability-related challenges for power systems. Transient stability refers to the ability of a power grid's bus angles to retain synchronism after the occurrence of a major fault. In this paper a…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate…
On perfectly vertical surfaces, rolling is conventionally deemed impossible without external torque. While various species like geckos and spiders exhibit vertical locomotion, they cannot achieve rolling; instead, they fall. In this study,…
A case study is presented of a collision avoidance system that directly integrates the kinematics of a bi-steerable car with a suitable path planning algorithm. The first step is to identify a path using the method of rapidly exploring…
This paper proposes an event-triggered add-on safety mechanism to adjust the control parameters for timely braking in a networked vehicular system while maintaining maneuverability. Passenger vehicle maneuverability is significantly…
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…