Research
Research
Research
Research
3,999+ open-access research outputs.
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric sub…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that address…
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and posture adaptation to t…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
This study proposes a portfolio optimization framework that integrates advanced deep learning architectures with traditional financial models to enhance risk-adjusted performance. Using historical dat…
The sense of family connectedness may support positive outcomes including individual well-being, resilience, and healthy family functioning. However, as technologies advance, they often replace human-…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic env…
To enable larger apertures in multipleinput multipleoutput MIMO systems the trihybrid MIMO architecture offers a promising lowcost and lowpower solution by introducing reconfigurable antennas as a thi…
Humanoid robots operating in unstructured environments must recover from unexpected disturbances-a capability that remains challenging for end-to-end control policies. We present RECOVERFORMER, a full…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers …
Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated lar…
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…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
Speaker diarization (SD) is the task of answering "who spoke when" in a multi-speaker audio stream. Classically, an SD system clusters segments of speech belonging to an individual speaker's identity.…
Traditional policy learning methods in cooperative pursuit face fundamental challenges in biomimetic underwater robots, where long-horizon decision making, partial observability, and inter-robot coord…
Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between differen…
Learning diverse locomotion skills for humanoid robots in a unified reinforcement learning framework remains challenging due to the conflicting requirements of stability and dynamic expressiveness acr…
Computing Fourier transforms of k-sparse signals, where only k of N frequencies are non-zero, is fundamental in compressed sensing, radar, and medical imaging. While the Fast Fourier Transform (FFT) e…
Free open-access publishing with Google Scholar indexing.
Submission Guide →