Related papers: Dynamic Task Space Control Enables Soft Manipulato…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…
Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…