Related papers: On modal observers for beyond rigid body $H_\infty…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
In this paper we present a method of discrete modeling and analysis of multi-level dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. In a model each state describes parallel dynamics…
As recent trends in manufacturing engineering disciplines show a clear development in the sustainable as well as economically efficient design of forming processes, monitoring techniques have been gaining in relevance. In terms of…
Multibody dynamics simulations are currently widely accepted as valuable means for dynamic performance analysis of mechanical systems. The evolution of theoretical and computational aspects of the multibody dynamics discipline make it…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
Precision motion stages are playing a prominent role in various manufacturing equipment. The drastically increasing demand for higher throughput in integrated circuit (IC) manufacturing and inspection calls for the next-generation precision…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
Control of nonlinear dynamical systems is a complex and multifaceted process. Essential elements of many engineering systems include high fidelity physics-based modeling, offline trajectory planning, feedback control design, and data…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
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…
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous modeling paradigms, as well as subsystems…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…