Related papers: Admittance Controller Complemented with Real-time …
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
The level of challenge in stroke rehabilitation has to be carefully chosen to keep the patient engaged and motivated while not frustrating them. This paper presents a simulation where this level of challenge is automatically optimized using…
Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…
In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…