In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...
In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...
Coupled dynamical systems are omnipresent in everyday life. In general, interactions between
individual elements composing the system are captured by complex networks. The latter
greatly impact the way coupled systems are functioning and evolving in time. ...
This paper concerns the maximum-likelihood channel estimation for MIMO systems with orthogonal space-time block codes when the finite alphabet constraint of the signal constellation is relaxed. We study the channel coefficients estimation subspace generate ...
We study the dynamical process of congestion formation for large-scale urban networks by exploring a unique dataset of taxi movements in a megacity. We develop a dynamic model based on a reaction and a diffusion term that properly reproduces the cascade ph ...
Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...
Solidification is a phase transformation of utmost importance in material science, for it largely controls materials' microstructure on which a wide range of mechanical properties depends. Almost every human artifact undergoes a transformation that leads t ...
We study actions of groups by orientation preserving homeomorphisms on R (or an interval) that are minimal, have solvable germs at +/-infinity and contain a pair of elements of a certain dynamical type. We call such actions coherent. We establish that such ...
