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In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…