Related papers: On modal observers for beyond rigid body $H_\infty…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…
Increasingly stringent performance requirements for motion control necessitate the use of increasingly detailed models of the system behavior. Motion systems inherently move, therefore, spatio-temporal models of the flexible dynamics are…
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…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…