Related papers: Orientation Control with Variable Stiffness Dynami…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…

This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…

This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…