Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour

This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach

Structure-mechanism-based engineering of chemical regulators targeting distinct pathological factors in Alzheimer???s disease

The absence of effective therapeutics against Alzheimer???s disease (AD) is a result of the limited understanding of its multifaceted aetiology. Because of the lack of chemical tools to identify pathological factors, investigations into AD pathogenesis have also been insubstantial. Here we report chemical regulators that demonstrate distinct specificity towards targets linked to AD pathology, including metals, amyloid-?? (A??), metal-A??, reactive oxygen species, and free organic radicals. We obtained these chemical regulators through a rational structure-mechanism-based design strategy. We performed structural variations of small molecules for fine-tuning their electronic properties, such as ionization potentials and mechanistic pathways for reactivity towards different targets. We established in vitro and/or in vivo efficacies of the regulators for modulating their targets??? reactivities, ameliorating toxicity, reducing amyloid pathology, and improving cognitive deficits. Our chemical tools show promise for deciphering AD pathogenesis and discovering effective drugs.ope

Stability regions for standing balance of biped humanoid robots

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A Method for Robust Robotic Bipedal Walking on Rough Terrain: l1-optimal Event-based Feedback Controller

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A Novel Performance Measure for Biped Robots against Bounded Persistent Disturbances

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A Theoretical Framework for Stability Regions for Standing Balance of Humanoids Based on Their LIPM Treatment

The aim of this paper is to construct a theoretical framework for stability analysis relevant to standing balance of humanoids on top of the linear inverted pendulum model, in which their dynamics between the center of mass (CoM) and the zero moment point (ZMP) is dealt with. Based on the well-known sufficient condition that the contact between the ground and the support leg is stable if the corresponding ZMP is always inside the supporting region, this paper aims at characterizing three types of the associated stability regions. More precisely, assuming no external force disturbances affecting the motion of the humanoids, the stability region of the initial CoM position and velocity values can be explicitly computed by solving a finite number of linear inequalities. The stability regions of time-invariant force disturbances such as impulsive force and constant force disturbances are also dealt with in this paper, where the former is exactly obtained through a finite number of linear inequalities while the latter is approximately derived by using an idea of truncation. Furthermore, time-varying force disturbances of finite energy and finite amplitude are concerned with, and their maximum admissible l(2) and l(infinity) norms are computed in this paper, where the former can be exactly obtained by solving the discrete-time Lyapunov equation while the latter is approximately derived through an idea of truncation. It is further shown for both the truncation ideas that the approximately obtained stability regions converge to the exact stability regions with an exponential order of N, where N is the truncation parameter. Finally, the effectiveness of the computation methods proposed in this paper is demonstrated through some simulation results.11Nscopu