Related papers: Dynamic Control of Soft Robotic Arm: An Experiment…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
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…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
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…
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…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…
In this paper, the tracking control problem for 5 DOF surgical robot which is affected by tremor of surgeons' hand is considered. Mechanical modeling and dynamic analysis of a robotic arm in slave subsystem of a telesurgery system will be…