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An appropriate system model gives developers a better overview, and the ability to fix more inconsistencies more effectively and earlier in system development, reducing overall effort and cost. However, modelling assumes abstraction of…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…
The essence of the microgrid cyber-physical system (CPS) lies in the cyclical conversion of information flow and energy flow. Most of the existing coupling models are modeled with static networks and interface structures, in which the…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Robotics can be defined as the connection of perception to action. Taking this further, this project aims to drive a robot using an automated computer vision embedded system, connecting the robot's vision to its behavior. In order to…
This article explores natural interaction modalities for human-cyber-physical systems (CPS) interaction in construction. CPS has been applied in construction for many purposes with the promise of improving the safety and productivity of…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
In the last years the interconnection and ongoing development of physical systems combined with cyber resources has led to increasing automation. Through this progress in technology, autonomous vehicles, especially autonomous trains are…
In precision agriculture, integrating advanced technologies is crucial for optimizing plant growth and health monitoring. Cyber-physical system (CPS) platforms tailored to specific agricultural environments have emerged, but the diversity…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Modern cyber-physical systems (CPS) can consist of various networked components and agents interacting and communicating with each other. In the context of spatially distributed CPS, these connections can be dynamically dependent on the…
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…
We present a stepping stabilization control that addresses external push disturbances on bipedal walking robots. The stepping control is synthesized based on the step-to-step (S2S) dynamics of the robot that is controlled to have an…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…