相关论文: Analytical Forward Dynamics Modeling of Linearly A…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
We propose in this paper a unifying scheme for several algorithms from the literature dedicated to the solving of monotone inclusion problems involving compositions with linear continuous operators in infinite dimensional Hilbert spaces. We…
In this paper, we develop rapidly convergent forward-backward algorithms for computing zeroes of the sum of finitely many maximally monotone operators. A modification of the classical forward-backward method for two general operators is…
A method for inverse design of horizontal axis wind turbines (HAWTs) is presented in this paper. The direct solver for aerodynamic analysis solves the Reynolds Averaged Navier Stokes (RANS) equations, where the effect of the turbine rotor…
In this paper, we propose a reflected forward-backward splitting algorithic framework for finding a zero of the sum of finitely many monotone op-erators, including maximally monotone operators, cocoercive operators, and monotone and…
In this paper, we consider the inverse dynamic problem for the Dirac system on finite metric tree graphs. Our main goal is to recover the topology (connectivity) of a tree, lengths of edges, and a matrix potential function on each edge. We…
We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…
This paper proposes a novel geometric method for analytically determining the base inertial parameters of robotic systems. The rigid body dynamics is reformulated using projective geometric algebra, leading to a new identification model…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
Parameter estimation in structural dynamics generally involves inferring the values of physical, geometric, or even customized parameters based on first principles or expert knowledge, which is challenging for complex structural systems. In…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
In algorithms for solving optimization problems constrained to a smooth manifold, retractions are a well-established tool to ensure that the iterates stay on the manifold. More recently, it has been demonstrated that retractions are a…
A low out-degree orientation directs each edge of an undirected graph with the goal of minimizing the maximum out-degree of a vertex. In the parallel batch-dynamic setting, one can insert or delete batches of edges, and the goal is to…
In this paper, we propose an inertial forward backward splitting algorithm to compute a zero of the sum of two monotone operators, with one of the two operators being co-coercive. The algorithm is inspired by the accelerated gradient method…
In this work, we start with a generic mathematical framework for the equations of motion (EOM) in flight mechanics with six degrees of freedom (6-DOF) for a general (not necessarily symmetric) fixed-wing aircraft. This mathematical…
Several publications are concerned with learning inverse kinematics, however, their evaluation is often limited and none of the proposed methods is of practical relevance for rigid-body kinematics with a known forward model. We argue that…
We introduce a neural network architecture to solve inverse problems linked to a one-dimensional integral operator. This architecture is built by unfolding a forward-backward algorithm derived from the minimization of an objective function…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However,…
The paper deals with the developing of the methodological backgrounds for the modeling and simulation of complex dynamical objects. Such backgrounds allow us to perform coordinate transformation and formulate the algorithm of its usage for…