Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

Greenfield, Aaron
Saranlı, Uluç
Rizzi, Alfred A.
Effective modeling and control of multibody systems interacting with their environment through frictionol contact remain a challenging problem. In this paper we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting analytical forward solution is represented in piecewise linear form, which admits tractable inversion for implementing behavioral control. We address the inherent problem of ambiguity in the resulting model (both between and within a particular linear model) by, resorting to enumeration techniques and solve, for the complete collection of possible model solutions in the presence of both contact constraints and additional task-specific linear constraints. We illustrate the application of these techniques by developing a controller to reliably achieve the dynamic self-righting of a hexapod robot.
The International Journal of Robotics Research


Implementation and evaluation of age-aware downlink scheduling policies in communication networks
Oğuz, Tahir Kerem; Uysal, Elif; Department of Electrical and Electronics Engineering (2021-9-09)
As communication systems evolve, advanced perspectives are needed to meet the requirements of emerging applications. The Age of Information metric has taken its place in the literature to examine the information freshness demands of various applications. With the Age of Information perspective, the freshness of information subject to communication is monitored from the destination’s point of view. Within the scope of the thesis, a wireless network with a single transmitter (base station) and multiple receiv...
Design of a variable five-axes adjustable configuration robot manipulator
YUCEL, AS; Ersak, Aydın (1994-04-14)
A robot manipulator design is presented in this paper supplying a few kinematical configurations in a single structure which is in the mean time, reconfigurable for given tasks and hence making the level of flexibility and adaptability much higher for changing working environments
Implementation and Evaluation of Age-Aware Downlink Scheduling Policies in Push-Based and Pull-Based Communication
Oğuz, Tahir Kerem; Ceran Arslan, Elif Tuğçe; Uysal, Elif; Girici, Tolga (2022-5-01)
As communication systems evolve to better cater to the needs of machine-type applications such as remote monitoring and networked control, advanced perspectives are required for the design of link layer protocols. The age of information (AoI) metric has firmly taken its place in the literature as a metric and tool to measure and control the data freshness demands of various applications. AoI measures the timeliness of transferred information from the point of view of the destination. In this study, we exper...
Dynamic constraint satisfaction algorithm for online feature model reconfiguration
Oğuztüzün, Mehmet Halit S.; Entekhabi, Sina (2019-07-01)
Dynamically reconfigurable systems are able to respond to changes in their operational environments by reconfiguring themselves automatically. Dynamic software product lines are dynamically reconfigurable systems with an explicit variability model that guides the reconfiguration. In this work, feature models are used as the variability model. An emerging situation in the environment can lead to some relevant changes to the current configuration: some features must be activated, and some must be deactivated....
Stochastic modelling of biochemical networks and inference of modelparameters
Purutçuoğlu Gazi, Vilda (null, Springer, 2018-01-01)
There are many approaches to model the biochemical systems deterministically or stochastically. In deterministic approaches, we aim to describe the steady-state behaviours of the system, whereas, under stochastic models, we present the random nature of the system, for instance, during transcription or translation processes. Here, we represent the stochastic modelling approaches of biological networks and explain in details the inference of the model parameters within the Bayesian framework.
Citation Formats
A. Greenfield, U. Saranlı, and A. A. Rizzi, “Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact,” The International Journal of Robotics Research, pp. 911–931, 2005, Accessed: 00, 2020. [Online]. Available: