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Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
This paper is concerned with the optimal kinematic control of a robot manipulator where the robot end effector position follows a task space trajectory. The joints are actuated with the desired velocity profile to achieve this task. This…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…
The unscented Kalman inversion (UKI) method presented in [1] is a general derivative-free approach for the inverse problem. UKI is particularly suitable for inverse problems where the forward model is given as a black box and may not be…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
A non-relativistic system such as an ultracold trapped ion may perform a quantum simulation of a Dirac equation dynamics under specific conditions. The resulting Hamiltonian and dynamics are highly controllable, but the coupling between…
In the context of optimal control, we consider the inverse problem of Lagrangian identification given system dynamics and optimal trajectories. Many of its theoretical and practical aspects are still open. Potential applications are very…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required…
Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing…
Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
We consider the problem of estimating parameters in large-scale weakly nonlinear inverse problems for which the underlying governing equations is a linear, time-dependent, parabolic partial differential equation. A major challenge in…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
The dynamic matrix inverse problem is to maintain the inverse of a matrix undergoing element and column updates. It is the main subroutine behind the best algorithms for many dynamic problems whose complexity is not yet well-understood,…