相关论文: Displacement-Actuated Continuum Robots: A Joint Sp…

The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the…

This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…

Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…

This paper presents a novel set of algorithms for heap abstraction, identifying logically related regions of the heap. The targeted regions include objects that are part of the same component structure (recursive data structure). The result…

Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation…

We present abstraction-refinement algorithms for model checking safety properties of timed automata. The abstraction domain we consider abstracts away zones by restricting the set of clock constraints that can be used to define them, while…

Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…

In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…

Causal abstraction offers a principled framework for mechanistic interpretability, aligning a high-level causal model with the low-level computation realized by a neural network through counterfactual intervention analysis. Existing methods…

Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…

In this work, we continue our study on discrete abstractions of dynamical systems. To this end, we use a family of partitioning functions to generate an abstraction. The intersection of sub-level sets of the partitioning functions defines…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

We describe a derivational approach to abstract interpretation that yields novel and transparently sound static analyses when applied to well-established abstract machines. To demonstrate the technique and support our claim, we transform…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

In this report proofs are presented for a method for abstracting continuous dynamical systems by timed automata. The method is based on partitioning the state space of dynamical systems with invariant sets, which form cells representing…

Higher-dimensional automata constitute a very expressive model for concurrent systems. In this paper, we discuss "topological abstraction" of higher-dimensional automata, i.e., the replacement of HDAs by smaller ones that can be considered…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

The strength of a dynamic language is also its weakness: run-time flexibility comes at the cost of compile-time predictability. Many of the hallmarks of dynamic languages such as closures, continuations, various forms of reflection, and a…

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…

In this exploration paper, we design algorithms for deforming and contracting a simply connected discrete closed manifold to a discrete sphere. Such a contraction is a kind of shrinking or reducing process. In our algorithms, we need to…