相关论文: Stiffness-based Analytic Centre Method for Cable-D…

In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…

For achieving kinematically suitable configurations and highly dynamic task execution, an efficient way is to consider robot performance indices in the whole-body control (WBC) of robots. However, current WBC methods have not considered the…

The present work provides an analytic solution for the stiffness to crack length relation in microscopic cantilever shaped fracture specimens based on classical beam theory and substitution of the crack by a virtual rotational spring…

We present KADABRA, a new algorithm to approximate betweenness centrality in directed and undirected graphs, which significantly outperforms all previous approaches on real-world complex networks. The efficiency of the new algorithm relies…

Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…

We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…

We present a novel continuous optimization method to the discrete problem of quadtree optimization. The optimization aims at achieving a quadtree structure with the highest mechanical stiffness, where the edges in the quadtree are…

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…

Betweenness centrality is essential in complex network analysis; it characterizes the importance of nodes and edges in networks. It is a crucial problem that exactly computes the betweenness centrality in large networks faster, which…

This paper considers the computer model calibration problem and provides a general frequentist solution. Under the proposed framework, the data model is semi-parametric with a nonparametric discrepancy function which accounts for any…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

As soft continuum manipulators characterize terrific compliance and maneuverability in narrow unstructured space, low stiffness and limited dexterity are two obvious shortcomings in practical applications. To address the issues, a novel…

Cable-Driven Parallel Robots (CDPRs) are increasingly used for load manipulation tasks involving predefined toolpaths with intermediate stops. At each stop, where the platform maintains a fixed pose and the motors keep the cables under…

In sim-to-real Reinforcement Learning (RL), a policy is trained in a simulated environment and then deployed on the physical system. The main challenge of sim-to-real RL is to overcome the reality gap - the discrepancies between the real…

The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite,…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Transformers are state-of-the-art in a wide range of NLP tasks and have also been applied to many real-world products. Understanding the reliability and certainty of transformer model predictions is crucial for building trustable machine…

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…

In this paper, we introduce a simple methodology to leverage strong convexity and smoothness in order to obtain an optimal linear convergence rate for the Peaceman--Rachford splitting (PRS) scheme applied to optimization problems involving…