Related papers: Designing an AI-Based Adaptive Controller Augmente…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is still challenging to train and deploy on real robots. To reap…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, it makes…
An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that using negative capacitance shunt, the spring constant of…
We present our approach for the development, validation and deployment of a data-driven decision-making function for the automated control of a vehicle. The decisionmaking function, based on an artificial neural network is trained to steer…
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…
For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…
We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…
The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…