Related papers: A Unified Robust Motion Controller Synthesis for C…
In this paper, we propose a compliant motion control strategy for handling a single object by two similar industrial robots. The dynamics of the object carried by the two robots is assimilated to the dynamics of a mass-spring-damper system…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
This paper investigates robust synchronization for multi-agent systems (MASs) governed by parabolic partial differential equations in the presence of both observable and unobservable disturbances. Using only boundary output measurements, a…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance observer (DOB) is used to estimate and mitigate disturbances…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…