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Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Despite advances in upper-limb (UL) prosthetic design, achieving intuitive control of intermediate joints - such as the wrist and elbow - remains challenging, particularly for continuous and velocity-modulated movements. We introduce a…
Humanoid robots toward human-level dexterity require robotic hands capable of simultaneously providing high grasping force, rapid actuation speeds, multiple degrees of freedom, and lightweight structures within human-like size constraints.…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…
This paper introduces a manipulation framework for the elastic rod, including shape representation, sensorimotor-model estimation, and shape controller. Until now, the manipulation of the elastic rod has faced several challenges: 1) shape…
The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Assistive Exoskeleton Robots are helping restore functions to people suffering from underlying medical conditions. These robots require precise tuning of hyper-parameters to feel natural to the user. The device hyper-parameters often need…
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…