Related papers: Preliminary Studies on Force/Motion Control of Int…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…
Robots with multi-modal locomotion are an active research field due to their versatility in diverse environments. In this context, additional actuation can provide humanoid robots with aerial capabilities. Flying humanoid robots face…
With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…
Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators known as fiber reinforced elastomeric enclosures (FREEs) is…