Related papers: A Sensory Feedback Control Law for Octopus Arm Mov…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
Quantum control techniques applied at macroscopic scales provide us with opportunities in fundamental physics and practical applications. Among them, measurement-based feedback allows efficient control of optomechanical systems and…
Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…
This paper presents convergence analysis of a novel data-driven feedback control algorithm designed for generating online controls based on partial noisy observational data. The algorithm comprises a particle filter-enabled state estimation…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
In this paper, we analyze classical and quantum physical systems from an optimal control perspective. Specifically, we explore whether their associated dynamics can correspond to an open or closed-loop feedback evolution of a control…
The movements of birds, bats, and other flying species are governed by complex sensorimotor systems that allow the animals to react to stationary environmental features as well as to wind disturbances, other animals in nearby airspace, and…
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop…
In this paper, the problem of output feedback sliding mode control of linear sampled-data multi-input multi-output systems is considered. Existing sliding mode control schemes can attenuate the influence of an external disturbance by…
We develop an input delay-compensating feedback law for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium…
Proprioception is a human sense that provides feedback from muscles and joints about body position and motion. This key capability keeps us upright, moving, and responding quickly to slips or stumbles. In this paper we discuss a…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
The mammalian spatial navigation system makes use of several different sensory information channels. This information is then converted into a neural code that represents the animal's current position in space by engaging place cell, grid…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
Many organisms navigate gradients by alternating straight motions (runs) with random reorientations (tumbles), transiently suppressing tumbles whenever attractant signal increases. This induces a functional coupling between movement and…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…