Augmented-SVM: Automatic space partitioning for combining multiple non-linear dynamics
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Humans demonstrate an impressive capability to manipulate fragile objects without damaging them, graciously controlling the force and position of hands or tools. Traditionally, robotics has favored position control over force control to produce fast, accur ...
We show that accelerated gradient descent, averaged gradient descent and the heavy-ball method for quadratic non-strongly-convex problems may be reformulated as constant parameter secondorder difference equation algorithms, where stability of the system is ...
Accomplishment of many interactive tasks hinges on the compliance of humans. Humans demonstrate an impressive capability of complying their behavior and more particularly their motions with the environment in everyday life. In humans, compliance emerges fr ...
When laminar shear flows in large wall-bounded domains transition to turbulence, the flow exhibits spatio-temporally chaotic dynamics. Despite its chaotic dynamics, the flow may self-organize into characteristic spatially periodic patterns of unknown origi ...
Thermal convection in an inclined layer between two parallel walls kept at different fixed temperatures is studied for fixed Prandtl number . Depending on the angle of inclination and the imposed temperature difference, the flow exhibits a large variety of ...
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 ...
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 ...
Division of labor is a widely studied aspect of colony behavior of social insects. Division of labor models indicate how individuals distribute themselves in order to perform different tasks simultaneously. However, models that study division of labor from ...
Reaching over to grasp an item is arguably the most commonly used motor skill by humans. Even under sudden perturbations, humans seem to react rapidly and adapt their motion to guarantee success. Despite the apparent ease and frequency with which we use th ...
Accomplishment of many interactive tasks hinges on the compliance of humans. Humans demonstrate an impressive capability of complying their behavior and more particularly their motions with the environment in everyday life. In humans, compliance emerges fr ...