Results 61 to 70 of about 45,923 (289)

Insights on Oscillations and Impulses in Variable Impedance Control

, 2022
Operational-space impedance control allows to assign a mass-damper-spring (MDS) behavior to the end effector of a robotic manipulator. This aids resilience when interactions with the environment or humans are expected. While changing the virtual mass is not always practicable since it requires using precise force/torque sensors, varying the stiffness ...
Simonini, Giorgio, Colomba, Rachele Nebbia, Sammarco, Chiara, Angelini, Franco, Bicchi, Antonio, Pollayil, Mathew Jose   +5 more
openaire   +1 more source

Salmonella lipopolysaccharide‐containing supported lipid bilayers as platforms to study bacteriophage interactions

FEBS Letters, EarlyView.
We present robust protocols for the preparation of supported lipid bilayers (SLBs) incorporating either Salmonella smooth LPS or outer membrane vesicles (OMVs). We use a combination of quartz crystal microbalance with dissipation (QCM‐D) and fluorescence microscopy to both characterize the SLBs of various compositions and to probe their interactions ...
Hudson P. Pace, Alyssa Borges, Charles Arnaud, Tove Karlsson, Nina K. Bröker, Stefanie Barbirz, Marta Bally   +6 more
wiley   +1 more source

Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness

, 2010
Tendon controlled robots with nonlinear mechanical tendon stiffness are becoming more and more popular. With the appropriate actuation, the joint position and the stiffness between motor and link side can be prescribed at the same time. In this paper,
Hirzinger, Gerd, Wimböck, Thomas, Gerd Hirzinger, Ott, Christian, Thomas Wimbock, Christian Ott   +5 more
core   +1 more source

Microbiome−host proteostasis crosstalk—An emerging perspective on mechanisms and interventions toward healthy longevity

FEBS Letters, EarlyView.
Proteostasis and the gut microbiota play a key role in shaping host physiology. Microbiota‐derived metabolites, vitamins, and RNA modulate host proteostasis. Findings from model systems, including C. elegans, indicate microbes can either stabilize or disrupt host proteostasis.
Abhishek Anil Dubey, Maria Ermolaeva
wiley   +1 more source

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

, 2013
Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models.
Ijspeert, Auke Jan, Jesse van den Kieboom, Auke Jan Ijspeert, van den Kieboom, Jesse   +3 more
core   +1 more source

From mice to humans—divergent strategies for intestinal homeostasis and regeneration

FEBS Letters, EarlyView.
Recent advances such as organoid genome editing, xenotransplantation, imaging, and whole‐genome sequencing have enabled direct studies of human intestinal stem cells (ISCs). These studies reveal species‐specific features, including slower ISC proliferation, distinct injury responses, slower somatic mutation accumulation in humans, and an inverse ...
Keiko Ishikawa, Shinya Sugimoto, Toshiro Sato   +2 more
wiley   +1 more source

Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot

, 2011
In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive ...
Albu-Schäffer, Alin Olimpiu, Haddadin, Sami, Alin Albu-Schaffer, Parusel, Sven, Sami Haddadin, Sven Parusel   +5 more
core   +1 more source

Structural insights and therapeutic targets in Acinetobacter baumannii capsule biosynthesis

FEBS Letters, EarlyView.
Hypervirulent KL49 A. baumannii's capsular polysaccharide contains the nonulosonic acid 8‐epi‐Leg5,7Ac2, synthesized by epimerization via ElaA, ElaB, and ElaC. Crystal structures of ElaA, ElaB, and ElaC reveal their role in CMP‐Leg5,7Ac2 synthesis and regioselective C8 epimerization.
Woo Cheol Lee, Junho Jeong, Chae Yeong Lee, Hyunjoon Cho, Man Hwan Oh, Je Chul Lee, Jee‐Young Lee, Yangmee Kim   +7 more
wiley   +1 more source

Three phosphatase families form a community: The phosphohydrolases that act upon inositol pyrophosphates

FEBS Letters, EarlyView.
Inositol pyrophosphates are energy‐rich signaling molecules that perform critical functions in cells. Three different families of phosphatases hydrolyze the β phosphate of the inositol pyrophosphate molecules: two have narrow specificities and one is promiscuous.
Ronda J. Rolfes
wiley   +1 more source

Model-based Reinforcement Learning for Variable Impedance Control [PDF]

, 2023
This thesis is a collection of research work in the area of reinforcement learning and robotic manipulation. A set of new results on reinforcement learning focusing on model-based approaches and variable impedance control for compliant robotic ...
Anand, Akhil Sadanandan
core