相关论文: FlexDelta: A flexure-based fully decoupled paralle…
One-dimensional model for study of sub--femtosecond experiment with metal surface is put forward. The important features of the system, such as the pseudopotential for electron motion in the metal bulk, abrupt decrease of the normal to the…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
This study investigates how the viscoelasticity of the muscle changes during static stretching by measuring the state of the muscle during stretching using continuous time-series data. We used a device that applied a force to the muscle…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental…
The use of flexures to achieve fibre positioner motion is being actively investigated by several institutes, for example at the UK Astronomy Technology Centre (UKATC) and Leibniz-Institute for Astrophysics Potsdam. One challenge when…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
Compliance control is an increasingly employed technique used in the robotic field. It is known that various mechanical properties can be reproduced depending on the design of the stiffness matrix, but the design theory that takes advantage…
Using a minimal model of cells or cohesive cell layers as continuum active elastic media, we examine the effect of substrate thickness and stiffness on traction forces exerted by strongly adhering cells. We obtain a simple expression for…
We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
We propose a new stochastic coordinate descent method for minimizing the sum of convex functions each of which depends on a small number of coordinates only. Our method (APPROX) is simultaneously Accelerated, Parallel and PROXimal; this is…
It is now well established that nearby beating pairs of eukaryotic flagella or cilia typically synchronize in phase. A substantial body of evidence supports the hypothesis that hydrodynamic coupling between the active filaments, combined…
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances)…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
During the development of wearable exoskeletons, evaluations involving human subjects pose inherent safety risks. Therefore, systematic testing is often conducted using robots that emulate human motion. However, reproducing human movements…
The long wavelength limit of a recent microscopic phase field crystal (PFC) theory of a binary alloy mix- ture is used to derive an analytical approximation for the segregation coefficient as a function of the interface velocity, and relate…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
This paper proposes a novel proximal-gradient algorithm for a decentralized optimization problem with a composite objective containing smooth and non-smooth terms. Specifically, the smooth and nonsmooth terms are dealt with by gradient and…