Related papers: Switching control for tracking of a hybrid positio…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required…
A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…