Showing 2025Show all
3 papers · 1 filter
eess.SY2025
Passive Lifted FIR Filters for Nonlinear System Identification
Zixing Wang, Fulvio Forni
Passivity is a fundamental property of physical systems. In data-driven modeling, ensuring that a learned model preserves this structural property is critical to avoiding instabili…
cs.RO2025
Periodic robust robotic rock chop via virtual model control
Yi Zhang, Fumiya Iida, Fulvio Forni
Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion re…
eess.SY2025
Collaborative Drill Alignment in Surgical Robotics
Daniel Larby, Joshua Kershaw, Matthew Allen +1
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with t…