相关论文: Physics-data hybrid dynamic model of a multi-axis …

Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…

Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…

Hydraulic systems are widely utilized in industrial applications due to their high force generation, precise control, and ability to function in harsh environments. Hydraulic cylinders, as actuators in these systems, apply force and…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

Purely data driven approaches for machine learning present difficulties when data is scarce relative to the complexity of the model or when the model is forced to extrapolate. On the other hand, purely mechanistic approaches need to…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…

Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…

Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller that accounts for the robot's high-dimensional dynamics--a…

This paper presents an integrated model-free data-driven approach to solid mechanics, allowing to perform numerical simulations on structures on the basis of measures of displacement fields on representative samples, without postulating a…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

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…

We present a data-driven nonintrusive model order reduction method for dynamical systems with moving boundaries. The proposed method draws on the proper orthogonal decomposition, Gaussian process regression, and moving least squares…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Model-free data-driven computational mechanics, first proposed by Kirchdoerfer and Ortiz, replaces phenomenological models with numerical simulations based on sample data sets in strain-stress space. Recent literature extended the approach…

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…

In control design most control strategies are model-based and require accurate models to be applied successfully. Due to simplifications and the model-reality-gap physics-derived models frequently exhibit deviations from real-world-systems.…

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,…

Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

Recent advances in aerial robotics have enabled the use of multirotor vehicles for autonomous payload transportation. Resorting only to classical methods to reliably model a quadrotor carrying a cable-slung load poses significant…