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Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

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.…

Models of accretion discs and their associated outflows often incorporate assumptions of axisymmetry and symmetry across the disc plane. However, for turbulent discs these symmetries only apply to averaged quantities and do not apply…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…

A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…

Cyber-physical systems, also known as CPS, is an emerging field of technology that combines the physical and digital worlds by allowing for seamless interaction and communication between the two. One of the key characteristics of a CPS is…

This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…

This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…

Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is…

Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for propulsion, and snake robots can do so effectively. However,…

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through…

The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…

We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…