相关论文: Robot joint characterisation and control using a m…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
We demonstrate a magnetometric technique based on nonlinear magneto-optical rotation using amplitude modulated light. The magnetometers can be operated in either open-loop (typical nonlinear magneto-optical rotation with amplitude-modulated…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
The role of entanglement in determining the non-classicality of a given interaction has gained significant traction over the last few years. In particular, as the basis for new experimental proposals to test the quantum nature of the…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
An experimentally feasible magnetometer based on a dual-coupling optomechanical system is proposed, where the radiation-pressure coupling transduces the magnetic signal to the optical phase, and the quadratic optomechanical interaction…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
A flexible spectral code for the study of general relativistic magnetohydrodynamics is presented. Aiming at investigating the physics of slowly rotating magnetized compact stars, this new code makes use of various physically motivated…
An encoder wishes to minimize the bit rate necessary to guarantee that a decoder is able to calculate a symbol-wise function of a sequence available only at the encoder and a sequence that can be measured only at the decoder. This classical…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
The sensitivity of quantum magnetometers is challenged by control errors and, especially in the solid-state, by their short coherence times. Refocusing techniques can overcome these limitations and improve the sensitivity to periodic…
Autoencoders provide a powerful framework for learning compressed representations by encoding all of the information needed to reconstruct a data point in a latent code. In some cases, autoencoders can "interpolate": By decoding the convex…