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Physics-informed machine learning: A survey on problems, methods and applications
Observer-based model-free controller for the perturbations estimation and attenuation in robotic plants
The model-free controller is a powerful method because it does not require the knowledge of
the robotic plant dynamic equation. Since most of the model-free controllers consider …
the robotic plant dynamic equation. Since most of the model-free controllers consider …
A survey on legged robots: Advances, technologies and applications
Legged robots have come to represent a prime example of artificial intelligence's application
in engineering, thanks to their enhanced mobility and adaptability across complex terrains …
in engineering, thanks to their enhanced mobility and adaptability across complex terrains …
Optimal design of robotic character kinematics
The kinematic motion of a robotic character is defined by its mechanical joints and actuators
that restrict the relative motion of its rigid components. Designing robots that perform a given …
that restrict the relative motion of its rigid components. Designing robots that perform a given …
Robust jum** with an articulated soft quadruped via trajectory optimization and iterative learning
Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …
Engineering Compliance in Legged Robots Via Robust Co-Design
This article presents a design framework for the scalable co-design of hardware and control
as applied to improving the energy efficiency of legged robots with parallel compliance. The …
as applied to improving the energy efficiency of legged robots with parallel compliance. The …
Two-stage learning of highly dynamic motions with rigid and articulated soft quadrupeds
Controlled execution of dynamic motions in quadrupedal robots, especially those with
articulated soft bodies, presents a unique set of challenges that traditional methods struggle …
articulated soft bodies, presents a unique set of challenges that traditional methods struggle …
Learning to exploit elastic actuators for quadruped locomotion
Spring-based actuators in legged locomotion provide energy-efficiency and improved
performance, but increase the difficulty of controller design. While previous work has …
performance, but increase the difficulty of controller design. While previous work has …