Related papers: On-line Joint Limit Avoidance for Torque Controlle…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
Optimal control theory is developed for the task of obtaining a primary objective in a subspace of the Hilbert space while avoiding other subspaces of the Hilbert space. The primary objective can be a state-to-state transition or a unitary…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…