Related papers: Dynamic behavior analysis for a six axis industria…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to…
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers.…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources exhibiting varied behaviors, and does not naturally…
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…
Industrial robots are commonly used in various industries due to their flexibility. However, their adoption for machining tasks is minimal because of the low dynamic stiffness characteristic of serial kinematic chains. To overcome this…
The present work deals with determining the necessary parameters considering a three dimensional model to simulate in a realistic way the turning process on machine tool. This paper is dedicated to the study of the self-excited vibrations…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…