Results 81 to 90 of about 8,190 (293)

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

Advanced Robotics Research, EarlyView.
A quadruped robot masters dynamic jumps through constrained spaces with animal‐inspired moves and intelligent vision control. This hierarchical learning approach combines imitation of biological agility with real‐time trajectory planning. Although legged animals are capable of performing explosive motions while traversing confined spaces, replicating ...
Zeren Luo, Jiahui Zhang, Yimin Han, Ji Ma, Minghao Lu, Ioannis Havoutis, Peng Lu   +6 more
wiley   +1 more source

Solution of optimal power flow problems using moment relaxations augmented with objective function penalization [PDF]

2015 54th IEEE Conference on Decision and Control (CDC), 2015
8 pages, 1 figure, to appear in IEEE 54th Annual Conference on Decision and Control (CDC), 15-18 December ...
Daniel K. Molzahn, Cédric Josz, Ian A. Hiskens, Patrick Panciatici   +3 more
openaire   +2 more sources

Collision‐Resilient Winged Drones Enabled by Tensegrity Structures

Advanced Robotics Research, EarlyView.
Based on structures of birds such as the woodpeck, this article presents the collision‐resilient aerial robot, SWIFT. SWIFT leverages tensegrity structures in the fuselage and wings which allow it to undergo large deformations in a crash, without sustaining damage. Experiments show that SWIFT can reduce impact forces by 70% over conventional structures.
Omar Aloui, Raphael Zufferey, William Stewart, Mohammad Askari, Simon Jeger, Dario Floreano   +5 more
wiley   +1 more source

A Unified Framework for Pattern Recovery in Penalized and Thresholded Estimation and its Geometry [PDF]

We consider the framework of penalized estimation where the penalty term is given by a real-valued polyhedral gauge, which encompasses methods such as LASSO, generalized LASSO, SLOPE, OSCAR, PACS and others. Each of these estimators is defined through an
Graczyk, Piotr; orcid:, Schneider, Ulrike, Tardivel, Patrick; orcid:, Skalski, Tomasz; orcid:   +3 more
core   +1 more source

Continual Learning for Multimodal Data Fusion of a Soft Gripper

Advanced Robotics Research, EarlyView.
Models trained on a single data modality often struggle to generalize when exposed to a different modality. This work introduces a continual learning algorithm capable of incrementally learning different data modalities by leveraging both class‐incremental and domain‐incremental learning scenarios in an artificial environment where labeled data is ...
Nilay Kushawaha, Egidio Falotico
wiley   +1 more source

A State‐Adaptive Koopman Control Framework for Real‐Time Deformable Tool Manipulation in Robotic Environmental Swabbing

Advanced Robotics Research, EarlyView.
This work presents a state‐adaptive Koopman linear quadratic regulator framework for real‐time manipulation of a deformable swab tool in robotic environmental sampling. By combining Koopman linearization, tactile sensing, and centroid‐based force regulation, the system maintains stable contact forces and high coverage across flat and inclined surfaces.
Siavash Mahmoudi, Amirreza Davar, Dongyi Wang   +2 more
wiley   +1 more source

Penalized Orthogonal Iteration for Sparse Estimation of Generalized Eigenvalue Problem [PDF]

, 2019
We propose a new algorithm for sparse estimation of eigenvectors in generalized eigenvalue problems (GEPs). The GEP arises in a number of modern data-analytic situations and statistical methods, including principal component analysis (PCA), multiclass ...
Sungkyu Jung (565246), Yongho Jeon (6259472), Jeongyoun Ahn (6259469)   +2 more
core   +1 more source

Robotic Control for Human–Robot Collaborative Assembly Based on Digital Human Model and Reinforcement Learning

Advanced Robotics Research, EarlyView.
This work presents a robotic control method for human–robot collaborative assembly based on a biomechanics‐constrained digital human model. Reinforcement learning is used to generate physiologically plausible human motion trajectories, which are integrated into a virtual environment for robot control learning.
Bitao Yao, Hongzhou Ai, Wenjun Xu, Zude Zhou, Lihui Wang   +4 more
wiley   +1 more source

A Decoupled Approach for Composite Sparse-plus-Smooth Penalized Optimization [PDF]

We consider a linear inverse problem whose solution is expressed as a sum of two components: one smooth and the other sparse. This problem is addressed by minimizing an objective function with a least squares data-fidelity term and a different ...
Jarret, Adrian, Fageot, Julien, Costa, Valérie   +2 more
core   +3 more sources

Comparative Analysis of Metaheuristics for Solving the Optimal Power Flow With Renewable Sources and Valve-Point Constraints

IEEE Access
The Optimal Power Flow (OPF) problem, used to obtain efficient operation conditions with the lowest cost or the minimum power loss in electrical power systems, is a non-polynomial problem that becomes even harder to analyze when considering renewable ...
Gerardo Castanon, Ana Maria Sarmiento, Alberto F. Martinez-Herrera, Alejandro Aragon-Zavala, Fernando Lezama, Zita Vale   +5 more
doaj   +1 more source