Related papers: On Model Adaptation for Sensorimotor Control of Ro…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in the micro scale manufacturing, which requires high-precision…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator for precise trajectory tracking. To address the challenges…
We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…
This manuscript contains technical details of recent results developed by the authors on adaptive model predictive control for constrained linear systems that exhibits exploring property and uses basis function model parametrization.
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…
An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple…
Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
This work presents the design and the corresponding stability analysis of desired model based, joint position constrained, robot controller. Specifically, provided that the initial joint position tracking error signal starts below some…
This paper develops some extensions to the work of [1] which studied the continuous-time adaptive output tracking control schemes with the reference output signal generated from an unknown reference model system. The presented extensions…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…