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Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, depth uncertainty hinders state perception and reaction.…
This paper presents an assisted telemanipulation framework for reaching and grasping desired objects from clutter. Specifically, the developed system allows an operator to select an object from a cluttered heap and effortlessly grasp it,…
In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
Dual-function radar-communication (DFRC) based on frequency hopping (FH) MIMO radar (FH-MIMO DFRC) achieves symbol rate much higher than radar pulse repetition frequency. Such DFRC, however, is prone to eavesdropping due to the spatially…
We present enhancements to the TCP-Friendly Rate Control mechanism (TFRC) designed to better handle the intermittent connectivity occurring in mobility situations. Our aim is to quickly adapt to new network conditions and better support…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Cyber-physical robotic systems are vulnerable to false data injection attacks (FDIAs), in which an adversary corrupts sensor signals while evading residual-based passive anomaly detectors such as the chi-squared test. Such stealthy attacks…
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…