Related papers: A Generalized Approach to Impedance Control Design…

Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…

This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…

Although projection-based reduced-order models (ROMs) for parameterized nonlinear dynamical systems have demonstrated exciting results across a range of applications, their broad adoption has been limited by their intrusivity: implementing…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current…

We present a new approach for vision-based force estimation in Minimally Invasive Robotic Surgery based on frequency domain basis of motion of organs derived directly from video. Using internal movements generated by natural processes like…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…

This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data…

A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (stability), while avoiding the boundary of the environment…

Surgical robotics is a rising field in medical technology and advanced robotics. Robot assisted surgery, or robotic surgery, allows surgeons to perform complicated surgical tasks with more precision, automation, and flexibility than is…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…

Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…

Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…