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Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Wireless bioelectronic interfaces are increasingly used to control tissue-engineered biohybrid robotic systems. However, a unifying engineering framework linking device design to system-level control remains underdeveloped. Here, we propose…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
In this paper I present some of the most representative biological models applied to robotics. In particular, this work represents a survey of some models inspired, or making use of concepts, by gene regulatory networks (GRNs): these…
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…
Reinforcement learning has been applied to human movement through physiologically-based biomechanical models to add insights into the neural control of these movements; it is also useful in the design of prosthetics and robotics. In this…
Optics is foundational to research in many areas of science and engineering, including nanophotonics, quantum information, materials science, biomedical imaging, and metrology. However, the design, assembly, and alignment of optical…
Synthetic biology is a recent area of biological engineering, whose aim is to provide cells with novel functionalities. A number of important results regarding the development of control circuits in synthetic biology have been achieved…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
While the search for new solvents in the chemical industry is of uttermost importance with respect to environmental considerations, this domain remains strongly tied to highly manual and visual inspection tasks by human experts. As the…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
Machine vision is critical to robotics due to a wide range of applications which rely on input from visual sensors such as autonomous mobile robots and smart production systems. To create the smart homes and systems of tomorrow, an overview…
The emerging field at the intersection of quantitative biology, network modeling, and control theory has enjoyed significant progress in recent years. This Special Issue brings together a selection of papers on complementary approaches to…
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We…