Related papers: Dynamic Control of Pneumatic Muscle Actuators

This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…

Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…

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…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…

Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…

We present a data-driven approach for physics-based, muscle-driven dexterous control that enables musculoskeletal hands to perform precise piano playing for novel pieces of music outside the reference dataset. Our approach combines…

Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…

Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…

Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited…

The inherent flexibility of soft robots offers numerous advantages, such as enhanced adaptability and improved safety. However, this flexibility can also introduce challenges regarding highly uncertain and nonlinear motion. These challenges…

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…

We study the Hamiltonian dynamics of a many-body quantum system subjected to periodic projective measurements which leads to probabilistic cellular automata dynamics. Given a sequence of measured values, we characterize their dynamics by…

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…