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In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Many robotics tasks, such as path planning or trajectory optimization, are formulated as optimal control problems (OCPs). The key to obtaining high performance lies in the design of the OCP's objective function. In practice, the objective…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Optimal feedback control (OFC) is a theory from the motor control literature that explains how humans move their body to achieve a certain goal, e.g., pointing with the finger. OFC is based on the assumption that humans aim to control their…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…
The main challenge in controlling hybrid systems arises from having to consider an exponential number of sequences of future modes to make good long-term decisions. Model predictive control (MPC) computes a control action through a…
We propose a formulation for approximate constrained nonlinear output-feedback stochastic model predictive control. Starting from the ideal but intractable stochastic optimal control problem (OCP), which involves the optimization over…
Direct multiple shooting (DMS) and direct collocation (DC) are two common transcription methods for solving optimal control problems (OCP) in biomechanics and robotics. They have rarely been compared in terms of solution and speed. Through…
This paper deals with the development of a handling-oriented stiffness control strategy using multichamber suspensions. Indeed, being this technology capable of stiffness variability, it is particularly indicated for improving the vehicle…
Musculoskeletal disorder (MSD) is one of the major health problems in physical work especially in manual handling jobs. In several literatures, muscle fatigue is considered to be closely related to MSD, especially for muscle related…
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists…
Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and maintenance jobs. In these jobs, musculoskeletal…
Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and maintenance jobs. In these jobs, musculoskeletal…
Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…