Related papers: Design of non-diagonal stiffness matrix for assemb…
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam,…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
This paper investigates the determination of feasible input-output pairings for the decentralized integral controllability of non-square systems. The relevance of this problem extends beyond traditional industrial processes into modern AI…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
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…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
The design of desired behaviors in mechanical metamaterials has produced remarkable advances but has generally neglected two aspects - the inevitable presence of undesired behaviors and the role of dynamics in avoiding such behaviors.…
The elastic behavior of materials operating in the linear regime is constrained, by definition, to operations that are linear in the imposed deformation. Though the nonlinear regime holds promise for new functionality, the design in this…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
This paper proposes a computational framework for the design optimization of stable structures under large deformations by incorporating nonlinear buckling constraints. A novel strategy for suppressing spurious buckling modes related to…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Nonconvex and nonsmooth optimization problems are frequently encountered in much of statistics, business, science and engineering, but they are not yet widely recognized as a technology in the sense of scalability. A reason for this…
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
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…