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Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
Cyber-physical systems (CPSs) are important whenever computer technology interfaces with the physical world as it does in self-driving cars or aircraft control support systems. Due to their many subtleties, controllers for cyber-physical…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly intertwined computational (logical) and physical components, each operating at different spatial and temporal scales. Hence, the spatial and temporal requirements…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can…
Cyber-physical systems (CPS) have been broadly deployed in safety-critical domains, such as automotive systems, avionics, medical devices, etc. In recent years, Artificial Intelligence (AI) has been increasingly adopted to control CPS.…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Cyber-physical systems (CPS) are systems where a decision making (cyber/control) component is tightly integrated with a physical system (with sensing/actuation) to enable real-time monitoring and control. Recently, there has been…
Cyber-physical systems (CPS) are required to satisfy safety constraints in various application domains such as robotics, industrial manufacturing systems, and power systems. Faults and cyber attacks have been shown to cause safety…
The complexity of cyberattacks in Cyber-Physical Systems (CPSs) calls for a mechanism that can evaluate the operational behaviour and security without negatively affecting the operation of live systems. In this regard, Digital Twins (DTs)…
Motivated towards achieving multi-modal locomotion, in this paper, we develop a framework for a bipedal robot to dynamically ride a pair of Hovershoes over various terrain. Our developed control strategy enables the Cassie bipedal robot to…
We discuss challenges to control systems engineering arising from the advent of cyber-physical systems (CPS). After discussing the terminology, general, IT-related issues are treated which need cooperation with computer science, in…
Several sources of uncertainty have to be taken into account in the analysis and design of CPS. The set of parameters used in the model of the physical plant of a CPS may be uncertain due, for example, to manufacturing processes that are…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
Adaptive Cyber-Physical Systems (CPS) are systems that integrate both physical and computational capabilities, which can adjust in response to changing parameters. Furthermore, they increasingly incorporate human-machine collaboration,…
The notion of Cyber-Physical-Social System (CPSS) is an emerging concept developed as a result of the need to understand the impact of Cyber-Physical Systems (CPS) on humans and vice versa. This paradigm shift from CPS to CPSS was mainly…