3 accepted papers
Animal musculoskeletal systems are renowned for their ability to dynamically regulate stiffness and achieve energy-efficient motion. Being inspired by the biological control structure, this study presents a hybrid control framework that utilizes two-stage learning processes for body movement plannin
Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, have been extensively studied for task automation. Precision assembly, a typical example of contact-rich tasks, requires high time constants to cope with the change in contact state. Therefore, this letter prop
Nonprehensile manipulation is necessary for robots to operate in humans' daily lives. As nonprehensile manipulation should satisfy both kinematics and dynamics requirements simultaneously, it is difficult to manipulate objects along given paths. Previous studies have considered the problems with seq