Related papers: Convex Controller Synthesis for Robot Contact
In human-robot collaboration (HRC), software-based automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
Robots are used increasingly often in safety-critical scenarios, such as robotic surgery or human-robot interaction. To ensure stringent performance criteria, formal controller synthesis is a promising direction to guarantee that robots…
Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Time-varying optimization is fundamental to decision-making in dynamic environments, where objectives evolve over time due to exogenous signals or data streams. However, algorithms designed for static problems yield suboptimal decisions in…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…
Networked Control Systems (NCSs) have been instrumental in realizing fully connected and responsive intelligent environments within the context of real-time virtual control and management. However, traditional NCSs face considerable…