Related papers: Adaptive Control of 4-DoF Robot manipulator
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…