论文机器人控制利用测量与模型，将期望运动或作用力转化为执行器指令。比较研究结果时，应同时查看任务、反馈、实验条件及已报告的限制。
论文
This preprint studies coordinated paths for interchangeable robots and goals in planar spaces with polygonal obstacles. The proposed construction uses conformal mapping and a generalized root locus to derive robot-goal assignments and paths. The authors describe safety tests and simulated examples. DailyMecha has summarized the abstract, without independently validating the mathematical claims.
arXiv论文
The paper presents a decentralized bi-level optimization framework for swarms of small spacecraft transporting a rigid payload. It separates convex thrust allocation from an outer search over payload torque trajectories, using exact gradients to find fuel-efficient solutions without requiring full nonlinear-program convergence. The authors report theoretical convergence guarantees and validate the method in extensive Monte Carlo simulations, including closed-loop recovery from in-flight faults; short-timescale performance scales with the number of agents.
arXiv cs.RO论文
The paper proposes a dual-loop control strategy for exoskeleton assistance. A denoising generator uses whole-body human motion and exoskeleton proprioception, with task descriptions as auxiliary cues, to generate future trajectories. The controller uses the sampled trajectories’ mean as its reference and variance to regulate stiffness through variable admittance control. Experiments report reduced muscle activation versus standard baselines and lower metabolic energy expenditure than the unassisted condition.
arXiv cs.RO演示
Unitree presents UniUni, a system for coordinating swarm robot movements and formations, monitoring device status, and safety braking.
Unitree Robotics