相关论文: Modular Lie Algebraic PDE Control of Multibody Fle…

This work studies a variational formulation and numerical solution of a regularized morphoelasticity problem of shape evolution. The foundation of our analysis is based on the governing equations of linear elasticity, extended to account…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…

The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…

The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a…

We describe a framework that can integrate prior physical information, e.g., the presence of kinematic constraints, to support data-driven simulation in multi-body dynamics. Unlike other approaches, e.g., Fully-connected Neural Network…

Modeling the dynamics of real-world physical systems is critical for spatiotemporal prediction tasks, but challenging when data is limited. The scarcity of real-world data and the difficulty in reproducing the data distribution hinder…

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…

This work concerns the internal stabilization of underactuated linear systems of $m$ heat equations in cascade, where the control is placed internally in the first equation only and the diffusion coefficients are distinct. Combining the…

Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…

This paper develops an extension of infinite-dimensional backstepping method for parabolic and hyperbolic systems in one spatial dimension with two actuators. Typically, PDE backstepping is applied in 1-D domains with an actuator at one…

This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the…

Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear…

We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…

Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…

Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…

This paper proposes a backstepping boundary control design for robust stabilization of linear first-order coupled hyperbolic partial differential equations (PDEs) with Markov-jumping parameters. The PDE system consists of 4 X 4 coupled…

Specifying a governing physical model in the presence of missing physics and recovering its parameters are two intertwined and fundamental problems in science. Modern machine learning allows one to circumvent these, via emulators and…

Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…

Designing and fabricating structures with specific mechanical properties requires understanding the intricate relationship between design parameters and performance. Understanding the design-performance relationship becomes increasingly…