Related papers: Robust interaction control of a dielectric elastom…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
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…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Dielectric elastomers have significant potential for new technologies ranging from soft robots to biomedical devices, driven by their ability to display complex shape changes in response to electrical stimulus. However, an important…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…
This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…
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…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Thin dielectric elastomers with compliant electrodes exhibit various types of instability under the action of electromechanical loading. Guided by the thermodynamically-based formulation of Fosdick and Tang (J. Elasticity 88, 255-297,…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…