Zobrazeno 1 - 10
of 52
pro vyhledávání: '"Halder, Udit"'
Autor:
Wang, Tixian, Chang, Heng-Sheng, Kim, Seung Hyun, Guo, Jiamiao, Akcal, Ugur, Walt, Benjamin, Biskup, Darren, Halder, Udit, Krishnan, Girish, Chowdhary, Girish, Gazzola, Mattia, Mehta, Prashant G.
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the pose at a finite number of locations along the length of the arm. The n
Externí odkaz:
http://arxiv.org/abs/2409.12443
Autor:
Wang, Tixian, Halder, Udit, Gribkova, Ekaterina, Gillette, Rhanor, Gazzola, Mattia, Mehta, Prashant G.
In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimotor control where an arm localizes and reaches a target. Major contribut
Externí odkaz:
http://arxiv.org/abs/2402.01074
In this report, passive elasticity properties of $\textit{Octopus rubescens}$ arm tissue are investigated using a multidisciplinary approach encompassing biomechanical experiments, computational modeling, and analyses. Tensile tests are conducted to
Externí odkaz:
http://arxiv.org/abs/2311.01798
Autor:
Tekinalp, Arman, Naughton, Noel, Kim, Seung-Hyun, Halder, Udit, Gillette, Rhanor, Mehta, Prashant G., Kier, William, Gazzola, Mattia
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into w
Externí odkaz:
http://arxiv.org/abs/2304.08413
Autor:
Shih, Chia-Hsien, Naughton, Noel, Halder, Udit, Chang, Heng-Sheng, Kim, Seung Hyun, Gillette, Rhanor, Mehta, Prashant G., Gazzola, Mattia
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-level decision making, low-level motor activation, and local reflexive
Externí odkaz:
http://arxiv.org/abs/2302.05811
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the PNS and inte
Externí odkaz:
http://arxiv.org/abs/2211.06767
Autor:
Chang, Heng-Sheng, Halder, Udit, Shih, Chia-Hsien, Naughton, Noel, Gazzola, Mattia, Mehta, Prashant G.
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In t
Externí odkaz:
http://arxiv.org/abs/2209.04089
Avian flocks display a wide variety of flight behaviors, including steady directed translation of center of mass, rapid change of overall morphology, re-shuffling of positions of individuals within a persistent form, etc. These behaviors may be viewe
Externí odkaz:
http://arxiv.org/abs/2208.03786
Autor:
Wang, Tixian, Halder, Udit, Gribkova, Ekaterina, Gillette, Rhanor, Gazzola, Mattia, Mehta, Prashant G.
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by biologists. The proposed control law is distinct from prior work which h
Externí odkaz:
http://arxiv.org/abs/2204.00717
Bend propagation in an octopus arm refers to a stereotypical maneuver whereby an octopus pushes a bend (localized region of large curvature) from the base to the tip of the arm. Bend propagation arises from the complex interplay between mechanics of
Externí odkaz:
http://arxiv.org/abs/2110.07211