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Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
The demand for high-precision and high-throughput motion control systems has increased significantly in recent years. The use of moving-magnet planar actuators (MMPAs) is gaining popularity due to their advantageous characteristics, such as…
Electrostatic actuators are simple but important switching devices for MEMS applications. Due to the difficulties associated with the electrostatic nonlinearity, precise mathematical description is often hard to obtain for the dynamics of…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using 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…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
In this paper we describe the design and implementation of a current controller for a reluctance synchronous machine based on continuous set nonlinear model predictive control. A computationally efficient grey box model of the flux linkage…
Magnetrons are widely used as a high-efficiency, large-power, and low-cost microwave source. This article proposes a method to improve the magnetron output characteristics based on regulating its anode current by a novel active distortion…
We present a high-bandwidth, lightweight, and nonlinear output tracking technique for soft actuators that combines parsimonious recursive layers for forward output predictions and online optimization using Newton-Raphson. This technique…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…
Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than 0.1 mm and can even be negative when dealing with a…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
State of the art high-current superconducting accelerators require efficient RF sources with a fast dynamic phase and power control. This allows for compensation of the phase and amplitude deviations of the accelerating voltage in the…
Common models describing magnetotransport properties of periodically modulated two--dimensional systems often either directly start from a semiclassical approach or give results well conceivable within the semiclassical framework. Recently,…