Related papers: A C++ Implementation of a Cartesian Impedance Cont…
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…
We propose a design method for a robust safety filter based on Input Constrained Control Barrier Functions (ICCBF) for car-like robots moving in complex environments. A robust ICCBF that can be efficiently implemented is obtained by…
Nonprehensile manipulation involves long horizon underactuated object interactions and physical contact with different objects that can inherently introduce a high degree of uncertainty. In this work, we introduce a novel Real-to-Sim reward…
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation…
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-damping system. Consequently, the robot behavior can be determined…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…