相关论文: Energy Shaping Control of a Muscular Octopus Arm M…
Octopus is an invertebrate belonging to the class of Cephalopoda. The body of an Octopus lacks any morphological joints and rigid parts. Their arms, skin and the complex nervous system are investigated by a several researchers all over the…
In this paper, we present a simulation and control framework for generating biomechanically plausible motion for muscle-actuated characters. We incorporate a fatigue dynamics model, the 3CC-r model, into the widely-adopted Hill-type muscle…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
We present a data-driven approach for physics-based, muscle-driven dexterous control that enables musculoskeletal hands to perform precise piano playing for novel pieces of music outside the reference dataset. Our approach combines…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
A common limitation of autonomous tissue manipulation in robotic minimally invasive surgery (MIS) is the absence of force sensing and control at the tool level. Recently, our team has developed miniature force-sensing forceps that can…
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…
Dexterous robotic hands enable versatile interactions due to the flexibility and adaptability of multi-fingered designs, allowing for a wide range of task-specific grasp configurations in diverse environments. However, to fully exploit the…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
We combine colloidal self-assembly and soft-lithography techniques to realize flexible magnetic microcrosses that can be manipulated via external, time dependent magnetic fields. The crosses are characterized by a central domain connected…