相关论文: Bio-inspired variable-stiffness flaps for hybrid f…

An integrated framework of computational fluid-structural dynamics (CFD-CSD) and deep reinforcement learning (deep-RL) is developed for control of a fly-scale flexible-winged flyer in complex flow. Dynamics of the flyer in complex flow is…

Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…

This study employs Deep Reinforcement Learning (DRL) for active flow control in a turbulent flow field of high Reynolds numbers at $Re=274000$. That is, an agent is trained to obtain a control strategy that can reduce the drag of a cylinder…

We numerically investigate the propulsive dynamics of a heaving flexible foil immersed in the wake of a stationary circular cylinder, focusing on the coupled effects of unsteady wake forcing, passive structural flexibility, and prescribed…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…

In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…

This paper presents for the first time successful results of active flow control with multiple independently controlled zero-net-mass-flux synthetic jets. The jets are placed on a three-dimensional cylinder along its span with the aim of…

This paper presents a deep reinforcement learning (DRL) framework for active flow control (AFC) to reduce drag in aerodynamic bodies. Tested on a 3D cylinder at Re = 100, the DRL approach achieved a 9.32% drag reduction and a 78.4% decrease…

Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…

Birds rely on active high-acceleration morphing and flapping to navigate complex airflows, but they can also maintain stable fixed-wing postures under persistent atmospheric disturbances. Here, we show that avian wings exhibit aerodynamic…

The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface…

Recent developments in machine-learning algorithms have led to impressive performance increases in many traditional application scenarios of artificial intelligence research. In the area of deep reinforcement learning, deep learning…

In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…

We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…

This paper focuses on the active flow control of a computational fluid dynamics simulation over a range of Reynolds numbers using deep reinforcement learning (DRL). More precisely, the proximal policy optimization (PPO) method is used to…

Flutter in lightweight airfoils under unsteady flows presents a critical challenge in aeroelastic stability and control. This study uncovers phase-localized mechanisms that drive the onset and suppression of flutter in a freely pitching…

The effect of flexibility on the hydrodynamic loads and on the flow structures generated on a rectangular foil when oscillating in pitch has been studied. Hydrodynamic loads were measured with a 6-axes balance, and the flow structures were…

We present a data-driven feedforward control to attenuate large transient lift experienced by an airfoil disturbed by an extreme level of discrete vortex gust. The current analysis uses a nonlinear machine-learning technique to compress the…

Designing active-flow-control (AFC) strategies for three-dimensional (3D) bluff bodies is a challenging task with critical industrial implications. In this study we explore the potential of discovering novel control strategies for drag…