Related papers: A Backstepping control strategy for constrained te…

Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…

Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face…

The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…

This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…

Robotics enables a variety of unconventional actuation strategies to be used for endoscopes, resulting in reduced trauma to the GI tract. For transmission of force to distally mounted endoscopic instruments, robotically actuated tendon…

A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…

When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

In robotic hand research, minimizing the number of actuators while maintaining human-hand-consistent dimensions and degrees of freedom constitutes a fundamental challenge. Drawing bio-inspiration from human hand kinematic configurations and…

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…

Singularities, manifesting as special configuration states, deteriorate robot performance and may even lead to a loss of control over the system. This paper addresses the kinematic singularity concerns in robotic systems with model mismatch…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…

This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…