Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space

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Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

Dynamic stall on airfoils negatively impacts their aerodynamic performance and can lead to structural damage. Accurate prediction and modelling of the dynamic stall loads are crucial for a more robust design of wings and blades that operate under unsteady ...

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

The largest source of systematic errors in the time-delay cosmography method likely arises from the lens model mass distribution, where an inaccurate choice of model could in principle bias the value of H-0. A Bayesian hierarchical framework has been propo ...

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many ...

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

Motion Pattern Preserving IK Operating in the Motion Principal Coefficients Space

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Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Exploration-based model learning with self-attention for risk-sensitive robot control

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Implicit Distance Functions: Learning and Applications in Robotics

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Online active and dynamic object shape exploration with a multi-fingered robotic hand

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

Memory of Motion for Initializing Optimization in Robotics

All you need is time to generalise the Goman-Khrabrov dynamic stall model

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

TOCOSMO VIII. A key test of systematics in the hierarchical method of time-delay cosmography

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

Learning from demonstration using products of experts: Applications to manipulation and task prioritization