Related papers: Torque Control with Joints Position and Velocity L…
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.…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing methods perform poorly in singular configurations, however,…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP based controllers are: the control input often experiences…
This paper presents analyses for the maximum hands-off control using the geometric methods developed for the theory of turnpike in optimal control. First, a sufficient condition is proved for the existence of the maximum hands-off control…