Related papers: A Purely-Reactive Manipulability-Maximising Motion…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
Nonprehensile manipulation involves long horizon underactuated object interactions and physical contact with different objects that can inherently introduce a high degree of uncertainty. In this work, we introduce a novel Real-to-Sim reward…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
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…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
The gesture-determined-dynamic function (GDDF) offers an effective way to handle the control problems of humanoid robots. Specifically, GDDF is utilized to constrain the movements of dual arms of humanoid robots and steer specific gestures…
Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…
This paper is aimed at presenting a short survey of velocity-free control schemes for robot manipulators. A salient feature of this work is the implementation of this control schemes on a simulation model of the 3-DOF industrial PHANToM 1.5…
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…