Related papers: A Modular Robotic Arm Control Stack for Research: …
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued predictor which, given an initial estimate of the state,…
Recent work leverages the capabilities and commonsense priors of generative models for robot control. In this paper, we present an agentic control system in which a reasoning-capable language model plans and executes tasks by selecting and…
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying…
Snake robots have showcased remarkable compliance and adaptability in their interaction with environments, mirroring the traits of their natural counterparts. While their hyper-redundant and high-dimensional characteristics add to this…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…
Unlike the rigid, high-volume automation found in industry, academic research requires process flexibility that has historically relied on variable manual operations. This hinders the fabrication of advanced, complex devices. We propose to…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency stopping under unexpected hazards has…
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…
Modern intelligent systems researchers employ the scientific method: they form hypotheses about system behavior, and then run experiments using one or more independent variables to test their hypotheses. We present SIERRA, a novel framework…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
Purpose: Fly scans are indispensible in many experiments at the High Energy Photon Source (HEPS). PandABox, the main platform to implement fly scans at HEPS, needs to be integrated into Mamba, the experiment control system developed at HEPS…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…