Related papers: Modeling of an On-Orbit Maintenance Robotic Arm Te…
This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
This paper presents the modeling and verification of multibody structural dynamics for offshore wind turbines. The flexible tower and support structure of a monopile-based offshore wind turbine are modeled using an acausal,…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a testing setup that can manipulate many degrees of freedom…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly,…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…