Research
Research
Research
Research
1,307+ open-access research outputs.
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, intera…
Annotating long-horizon robotic demonstrations with precise temporal action boundaries is crucial for training and evaluating action segmentation and manipulation policy learning methods. Existing ann…
The CONCERTO millimeter-wave spectral-imaging instrument was deployed on the Atacama Pathfinder EXperiment (APEX), where it acquired science data between April 2021 and May 2023. The instrument featur…
This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle ch…
CONCERTO is a millimeter-wave imaging instrument that operated on the Atacama Pathfinder Experiment (APEX) telescope from April 2021 to May 2023. Its primary scientific objectives include the study of…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although…
Humans understand and interact with the real world by relying on diverse physical feedback beyond visual perception. Motivated by this, recent approaches attempt to incorporate physical sensory signal…
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different int…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, frict…
Tillage operations account for a large share of on-farm diesel consumption, yet the fuel efficiency of the combined tractor-implement system is not optimised in current practice. Modern continuously v…
Controllers for motor drives typically require a current reference which will satisfy the requested torque subject to system constraints. This work generalizes existing current reference theory to the…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in …
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed met…
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated …
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in complex environments, …
This paper presents a driving-cycle-aware shape and topology optimization workflow for interior permanent magnet synchronous machines used in traction drives. A k-means clustering approach reduces ful…
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