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arXiv:2609.15082v1 Announce Type: cross Abstract: Passive counterweights are simple gravity compensators, but a counterweight selected from a single pose is not generally optimal for the configuratio...
The paper introduces a capacity‑aware extension of aerodynamic promptness for redundant multirotors with heterogeneous rotors. It defines the symmetric acceleration capacity (SAC) as the largest zero‑centered rotor‑acceleration interval under bounded torque and drag, and uses SAC to induce a Riemannian metric that yields a state‑attached task‑rate capability matrix and ellipsoid. The resulting drag‑aware aerodynamic manipulability (DAAM) index and its fiberwise maximization provide a task‑coordinate‑invariant criterion for selecting actuator states, demonstrated in low‑dimensional rotor studies and a two‑rotor allocation case that improves force‑tracking performance compared to the pseudoinverse.
arXiv:2606. 17317v1 Announce Type: cross Abstract: Real-time trajectory generation for on-orbit robotic servicing is challenging due to the nonlinear coupling between spacecraft bus motion, manipulator dynamics, visibility cone, and trajectory-level safety constraints.
arXiv:2503. 08394v5 Announce Type: replace-cross Abstract: Multi-task optimization is typically characterized by a fixed and finite set of tasks.
arXiv:2606. 06218v1 Announce Type: cross Abstract: A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot.
arXiv:2609.26420v1 Announce Type: cross Abstract: Text-to-motion models generate plausible human motion but do not model a robot's dynamics; whole-body tracking controllers execute robot references r...