Related papers: Passivity-based Decentralized Control for Collabor…
This paper proposes a hierarchical adaptive sampling scheme for passivity characterization of large-scale linear lumped macromodels. Here, large-scale is intended both in terms of dynamic order and especially number of input/output ports.…
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be…
Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external disturbances applied to the grasped object. For example, nonbackdrivable actuators (e.g.…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
This work proposes a distributed estimation and control approach in which a team of aerial agents equipped with radio jamming devices collaborate in order to intercept and concurrently track-and-jam a malicious target, while at the same…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
This paper presents a novel distributed active set method for model predictive control of linear systems. The method combines a primal active set strategy with a decentralized conjugate gradient method to solve convex quadratic programs. An…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…
One major challenge for autonomous attitude takeover control for on-orbit servicing of spacecraft is that an accurate dynamic motion model of the combined vehicles is highly nonlinear, complex and often costly to identify online, which…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…
Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…
With the emergence of low-inertia microgrids powered by inverter-based generation, there remains a concern about the operational resilience of these systems. Grid-forming inverters (GFMs), enabled by various device-level (primary) and…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…