相关论文: Lie Group Formulation and Sensitivity Analysis for…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear observation models defined on curved…
In this paper, we give a simple formula for sectional curvatures on the general linear group, which is also valid for many other matrix groups. Similar formula is given for a reductive Lie group. We also discuss the relation between…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
The exact renormalization group is applied to the world sheet theory describing bosonic open string backgrounds to obtain the equations of motion for the fields of the open string. Using loop variable techniques the equations can be…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer for dynamics fitting rooted in the notion of…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to…
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
In this study a new approach to the problem of transverse vibrations of an ideal string is presented. Unlike previous studies, assumptions such as constant tension, inextensibility, constant crosssectional area, small deformations and…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
We present a novel approach to accelerate stochastic gradient descent (SGD) by utilizing curvature information obtained from Hessian-vector products or finite differences of parameters and gradients, similar to the BFGS algorithm. Our…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the…