Related papers: Modeling and control of a cable-driven series elas…
In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control-oriented model that can adequately…
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper presents a novel actuator design called…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…
In this work, a simulation model for the optimal control of dielectric elastomer actuated flexible multibody dynamics systems is presented. The Dielectric Elastomer Actuator (DEA) behaves like a flexible artificial muscles in soft robotics.…
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
In human-robot interactions, eye movements play an important role in non-verbal communication. However, controlling the motions of a robotic eye that display similar performance as the human oculomotor system is still a major challenge. In…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
Dielectric elastomer actuators (DEAs) have garnered extensive attention especially in soft robotic applications over the past few decades owing to the advantages of lightweight, large strain, fast response and high energy density. However,…
Solar sails provide a means of propulsion using solar radiation pressure, which offers the possibility of exciting new spacecraft capabilities. However, solar sails have attitude control challenges because of the significant disturbance…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
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…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
This paper presents prototype testing and a control allocation algorithm for the Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) concept aimed at performing momentum management of a solar sail. CABLESSail uses…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…