Related papers: Variable Stiffness Control with Strict Frequency D…
Precision motion stages are playing a prominent role in various manufacturing equipment. The drastically increasing demand for higher throughput in integrated circuit (IC) manufacturing and inspection calls for the next-generation precision…
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
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 this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
In contrast to grid-following inverters, Virtual Synchronous Generators (VSGs) perform well under weak grid conditions but may become unstable when the grid is strong. Grid strength depends on grid impedance, which unfortunately varies over…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…
Dynamical control of biological systems is often restricted by the practical constraint of unidirectional parameter perturbations. We show that such a restriction introduces surprising complexity to the stability of one-dimensional map…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…
Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…