Related papers: Modeling and control of a cable-driven series elas…
The Cellular Automaton (CA) modeling and simulation of solid dynamics is a long-standing difficult problem. In this paper we present a new two-dimensional CA model for solid dynamics. In this model the solid body is represented by a set of…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
To reduce CO2 emissions and tackle increasing fuel costs, the aviation industry is swiftly moving towards the electrification of aircraft. From the viewpoint of systems and control, a key challenge brought by this transition corresponds to…
As global battery demand increases, real-time process control becomes increasingly important for battery electrode manufacturing, yet slot-die lines are still mostly manually operated in open loop. This paper develops a physics-based…
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonlinear dynamics. Recently, Data-enabled Predictive Control…
Automation of cranes can have a direct impact on the productivity of construction projects. In this paper, we focus on the control of one of the most used cranes, the boom crane. Tower cranes and overhead cranes have been widely studied in…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…
Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…
This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most model-based control techniques used for this human-robot…
Active inference, a theoretical construct inspired by brain processing, is a promising alternative to control artificial agents. However, current methods do not yet scale to high-dimensional inputs in continuous control. Here we present a…
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead to particular difficulties in modeling and control. This…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…
STATCOMs is used widely in power systems these days. Traditionally, this converter was controlled using a double-loop control or Direct Output Voltage (DOV) controller. But DOV controller do not function properly during a three-phase fault…
Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…
We investigate the use of deep neural networks to control complex nonlinear dynamical systems, specifically the movement of a rigid body immersed in a fluid. We solve the Navier Stokes equations with two way coupling, which gives rise to…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…